MELSEC-Q QD73A1 Positioning Module User's Manual -QD73A1

Transcription

1 MELSEC-Q QD73A1 Positioning Module User's Manual -QD73A1

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3 SAFETY PRECAUTIS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the user s manual for the CPU module used. In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTI". WARNING CAUTI Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage. Under some circumstances, failure to observe the precautions given under " CAUTI" may lead to serious consequences. Observe the precautions of both levels because they are important for personal and system safety. Make sure that the end users read this manual and then keep the manual in a safe place for future reference. [Design Precautions] WARNING Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller. Failure to do so may result in an accident due to an incorrect output or malfunction. (1) When using a servo amplifier with Servo signal, connect the signal to the module. When using a servo amplifier whose control cannot be stopped through Servo signal, satisfy the following. Analog voltage must be 0V (motor stop) to power off the programmable controller. (2) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured external to the programmable controller. (3) OPR (Original Point Return) is controlled by two kinds of data: OPR direction and OPR speed. Deceleration starts when the near-point dog turns on. If an incorrect OPR direction is set, motion control may continue without deceleration. To prevent machine damage caused by this, configure an interlock circuit external to the programmable controller. Do not write any data to the "system area" of the buffer memory in the intelligent function module. Also, do not use any "use prohibited" signal as an output signal from the CPU module to the intelligent function module. Doing so may cause malfunction of the programmable controller system. 1

4 CAUTI Do not install the connection cables for external I/O signals and for the drive unit together with the main circuit lines, power cables, or load circuit lines of a device other than the programmable controller. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise, surges, and induction. [Installation Precautions] CAUTI Use the programmable controller in an environment that meets the general specifications in the user s manual for the CPU module used. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. To mount the module, while pressing the module mounting lever located in the lower part of the module, fully insert the module fixing projection(s) into the hole(s) in the base unit and press the module until it snaps into place. Incorrect mounting may cause malfunction, failure or drop of the module. When using the programmable controller in an environment of frequent vibrations, fix the module with a screw. Tighten the screws within the specified torque range. Undertightening can cause drop of the screw, short circuit or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction. Securely connect the drive unit connector and external device connector to the connector on the module. Poor contact may cause incorrect input or output. Do not directly touch any conductive parts and electronic components of the module. Doing so can cause malfunction or failure of the module. Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may result in damage to the product. 2

5 [Wiring Precautions] WARNING Shut off the external power supply (all phases) used in the system before installation and wiring. Failure to do so may result in electric shock or cause the module to fail or malfunction. After installation and wiring, attach the included terminal cover to the module before turning it on for operation. Failure to do so may result in electric shock. CAUTI Check the rated voltage and terminal layout before wiring to the module, and connect the cables correctly. Connecting a power supply with a different voltage rating or incorrect wiring may cause a fire or failure. Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure. Tighten the connector screws within the specified torque range. Undertightening can cause short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction. Connectors for external devices must be crimped with the tool specified by the manufacturer or must be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction. Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled, resulting in damage to the module or cables or malfunction due to poor contact. When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable with connector, hold the connector part of the cable. Pulling the cable connected to the module may result in malfunction or damage to the module or cable. Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a fire, failure, or malfunction. A protective film is attached to the top of the module to prevent foreign matter, such as wire chips, from entering the module during wiring. Do not remove the film during wiring. Remove it for heat dissipation before system operation. 3

6 [Startup and Maintenance Precautions] WARNING Shut off the external power supply (all phases) used in the system before cleaning the module or retightening the connector screws. Failure to do so may result in electric shock. CAUTI Do not disassemble or modify the module. Doing so may cause failure, malfunction, injury, or a fire. Shut off the external power supply (all phases) used in the system before mounting or removing a module. Failure to do so may cause the module to fail or malfunction. After the first use of the product, do not mount/remove the module to/from the base unit, and the terminal block to/from the module more than 50 times (IEC compliant) respectively. Exceeding the limit may cause malfunction. Before testing operation, set a low speed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition. Before handling the module, touch a conducting object such as a grounded metal to discharge the static electricity from the human body. Failure to do so may cause the module to fail or malfunction. [Precaution during operation] CAUTI When changing data and operating status, and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or modification may cause system malfunction, damage to the machines, or accidents. [Disposal Precaution] CAUTI When disposing of this product, treat it as industrial waste. 4

7 CDITIS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT. (2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries. MITSUBISHI SHALL HAVE NO RESPSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL RESPSIBILITY OR LIABILITY BASED CTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATI NOT INTENDED OR EXCLUDED BY INSTRUCTIS, PRECAUTIS, OR WARNING CTAINED IN MITSUBISHI'S USER, INSTRUCTI AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT. ("Prohibited Application") Prohibited Applications include, but not limited to, the use of the PRODUCT in; Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT. Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User. Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator, Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a significant risk of injury to the public or property. Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required. For details, please contact the Mitsubishi representative in your region. 5

8 INTRODUCTI Thank you for purchasing the Mitsubishi MELSEC-Q series programmable controllers. This manual describes the operating procedure, system configuration, parameter settings, functions, programming, and troubleshooting of the QD73A1 positioning module (hereafter abbreviated as QD73A1). Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC-Q series programmable controller to handle the product correctly. When applying the program examples introduced in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems. Relevant module: QD73A1 Remark Unless otherwise specified, this manual describes the program examples in which the I/O numbers of X/Y10 to X/Y2F are assigned for the QD73A1. For I/O number assignment, refer to the following manuals. QnUCPU Users Manual (Function Explanation, Program Fundamentals) Qn(H)/QnPH/QnPRHCPU User's Manual (Function Explanation, Program Fundamentals) Operating procedures are explained using GX Works2. When using GX Developer, refer to the following. Page 275, Appendix 4 6

9 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES (1) Method of ensuring compliance To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals. QCPU User's Manual (Hardware Design, Maintenance and Inspection) Safety Guidelines (This manual is included with the CPU module or base unit.) The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives. (2) Additional measures To ensure that this product maintains EMC and Low Voltage Directives, please refer to Page 64, Section

10 RELEVANT MANUALS (3) CPU module user's manual Manual name <manual number (model code)> QCPU User's Manual (Hardware Design, Maintenance and Inspection) <SH ENG, 13JR73> QnUCPU Users Manual (Function Explanation, Program Fundamentals) <SH ENG, 13JZ27> Qn(H)/QnPH/QnPRHCPU User's Manual (Function Explanation, Program Fundamentals) <SH ENG, 13JZ28> Description Specifications of the hardware (CPU modules, power supply modules, base units, extension cables, and memory cards), system maintenance and inspection, troubleshooting, and error codes Functions, methods, and devices for programming (4) Operating manual Manual name <manual number (model code)> GX Works2 Version1 Operating Manual (Common) <SH ENG, 13JU63> GX Developer Version 8 Operating Manual <SH E, 13JU41> Description System configuration, parameter settings, and online operations (common to Simple project and Structured project) of GX Works2 Operating methods of GX Developer, such as programming, printing, monitoring, and debugging 8

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12 CTENTS CTENTS SAFETY PRECAUTIS CDITIS OF USE FOR THE PRODUCT INTRODUCTI COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES RELEVANT MANUALS MANUAL PAGE ORGANIZATI TERMS PACKING LIST CHAPTER 1 OVERVIEW Features Signal Transmission Between the QD73A1 and Others CHAPTER 2 SYSTEM CFIGURATI Applicable Systems How to Check the Function Version and Serial Number CHAPTER 3 SPECIFICATIS Performance Specifications Number of Parameter Settings List of Functions I/O Signals from/to the CPU Module I/O signal list Details of input signals Details of output signals Specifications of I/O Interfaces with External Devices Electrical specifications of I/O signals Signal layout for external device connectors List of I/O signal details I/O interface internal circuit Memory Configuration and Use List of Buffer Memory Addresses CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI Handling Precautions Settings and Procedure Before Operation Part Names LED Zero/gain Adjustment Wiring Wiring precautions Precautions when connecting an encoder External device connectors

13 CHAPTER 5 DATA USED FOR POSITIING Types of Data Positioning Parameters OPR Parameters Positioning Data Monitor Data Control Data CHAPTER 6 VARIOUS SETTINGS Adding a Module Switch Setting Rotation direction setting Accumulated pulse setting Multiplication setting OPR direction setting OPR method setting Encoder I/F setting Analog voltage resolution setting Feedback pulse addition/subtraction setting Deviation counter clear setting Parameter Setting Positioning Data Setting Auto Refresh CHAPTER 7 PROGRAMMING Precautions on Programming Programs for Positioning When Using the Module in a Standard System Configuration Parameter setting program OPR program Major positioning control program Fixed-feed operation program JOG operation program Control change program Stop program during positioning When Using the Module in a Remote I/O Network Parameter setting program OPR program Major positioning control program Fixed-feed operation program JOG operation program Control change program Stop program during positioning

14 CHAPTER 8 OPR CTROL Overview of OPR Control Near-point Dog Method Count Method Operation Timing and Processing Time of OPR Control OPR Parameter Setting CHAPTER 9 MAJOR POSITIING CTROL Overview of Major Positioning Control Data Required for Major Positioning Control Relation Between Each Control and Positioning Data Specifying a Positioning Address Checking the Current Value Details of Major Positioning Control Position control mode Speed-position control switch mode Operation Timing and Processing Time of Major Positioning Control CHAPTER 10 JOG OPERATI Operation of JOG Operation Operation Timing and Processing Time of JOG Operation Data Setting for JOG Operation CHAPTER 11 CTROL SUB FUNCTIS Electronic Gear Function Speed Limit Function Stroke Limit Function Upper Limit Switch (FLS)/Lower Limit Switch (RLS) Function Current Value Change Function Speed Change Function Deviation Counter Clear Function In-position Function Accumulated Pulse Error Detection Function Measuring and saving the reference value in the flash ROM Setting the accumulated pulse error detection function CHAPTER 12 STOPPING AND RESTARTING CTROL Stopping Control Restarting the Speed-position Control Switch Mode CHAPTER 13 COMM FUNCTIS Module Status Monitor Function

15 13.2 Error History Function Module Error Collection Function Error Clear Function CHAPTER 14 TROUBLESHOOTING Checking an Error on GX Works Troubleshooting Troubleshooting procedure When the motor does not stop When positioning cannot be executed When a positioning error occurs When the positioning speed is different from the specified speed When operation stops abnormally during positioning OPR error Details of Errors Types of errors Storage of errors Error reset Error code list APPENDICES 263 Appendix 1 Functions Added or Changed Appendix 1.1 Functions added Appendix 1.2 Functions changed Appendix 2 Connection Examples Appendix 2.1 Example of connection with a servo amplifier manufactured by Mitsubishi Electric Corporation Appendix 2.2 Example of connection with a servo amplifier manufactured by YASKAWA Electric Corporation Appendix 3 Comparison of the QD73A1 and the AD70/A1SD Appendix 4 When Using GX Developer Appendix 4.1 Operation of GX Developer Appendix 5 Terms Appendix 6 External Dimensions INDEX 282 REVISIS WARRANTY

16 MANUAL PAGE ORGANIZATI In this manual, pages are organized and the symbols are used as shown below. The following illustration is for explanation purpose only, and should not be referred to as an actual documentation. "" is used for screen names and items. shows operating procedures. The chapter of the current page is shown. shows mouse operations. *1 [ ] is used for items in the menu bar and the project window. The section of the current page is shown. Ex. shows setting or operating examples. shows reference manuals. shows reference pages. shows notes that requires attention. shows useful information. *1 The mouse operation example is provided below. Menu bar Ex. [Online] [Write to PLC...] Select [Online] on the menu bar, and then select [Write to PLC...]. A window selected in the view selection area is displayed. Ex. Project window [Parameter] [PLC Parameter] Select [Project] from the view selection area to open the Project window. In the Project window, expand [Parameter] and select [PLC Parameter]. View selection area 14

17 The following symbols are used to represent buffer memory areas in this manual. Serial numbers fit in "*". Symbol Pr.* Da.* Md.* Cd.* Description Symbol indicating positioning parameter and OPR parameter item Symbol indicating positioning data item Symbol indicating monitor data item Symbol indicating control data item 15

18 TERMS Unless otherwise specified, this manual uses the following terms. QD73A1 QCPU Redundant CPU External input External output Programming tool GX Works2 GX Developer Buffer memory Term Description The abbreviation for the QD73A1 positioning module Another term for the MELSEC-Q series CPU module A generic term for the Q12PRHCPU and Q25PRHCPU The abbreviation for input from connectors for external devices The abbreviation for output to connectors for external devices Generic term for GX Works2 and GX Developer The product name of the software package for the MELSEC programmable controllers The memory of an intelligent function module used to store data (such as setting values and monitored values) for communication with a CPU module For terms related to positioning, refer to the following. Page 278, Appendix 5 PACKING LIST The product package contains the following. Model Product Quantity QD73A1 QD73A1 positioning module 1 QD73A1-U-HW Before Using the Product 1 16

19 CHAPTER 1 OVERVIEW CHAPTER 1 OVERVIEW 1 The QD73A1 possesses a deviation counter and D/A converter inside as in the following figure. CPU module Positioning module QD73A1 Command pulses Electronic gear Deviation counter D/A converter Analog voltage Speed command Drive unit Servo amplifier Servomotor M Sequence program Setting data Current value Feedback pulse addition/ subtraction setting Interface Multiplication Data writing/reading Parameter data Positioning data OPR parameters *1 Feedback pulses Feedback pulses *1 *2 PLG Feedback pulses from the pulse generator (PLG) may be input to the QD73A1 via the drive unit *1 or directly *2 depending on the servomotor to be used. Check which method applies in the manual for the servomotor or drive unit to be used. A system with the QD73A1 operates as follows. Start Operation Stop Once a command pulse train for positioning is output, pulses are accumulated in the deviation counter. The integrated value of pulses (accumulated pulses) is converted into DC analog voltage by a D/A converter, then turns into a speed command to a servomotor. The speed command from a drive unit starts servomotor rotation. Once the servomotor starts rotating, feedback pulses that are proportional to the number of rotations are generated by a pulse generator (PLG) attached to the servomotor. The generated feedback pulses are subtracted from the accumulated pulses in the deviation counter. The deviation counter continues to rotate the servomotor, maintaining a constant amount of accumulated pulse. Once the command pulse output from the QD73A1 stops, the accumulated pulses in the deviation counter decrease, so does the speed. When there is no more accumulated pulse, the servomotor stops. The rotation speed of a servomotor is proportional to command pulse frequency, while the rotation degree of the servomotor is proportional to the output command pulse amount. By setting feed per pulse beforehand, analog voltage that is proportional to the number of pulses in a pulse train is output, and a workpiece can be moved to the set position. Note that pulse frequency defines the rotation speed of the servomotor (feedrate). 17

20 1.1 Features (1) Analog output type that possesses a deviation counter and D/A converter inside This module converts command pulse for positioning into analog voltage inside, then outputs a speed command to a servo amplifier. (2) Compatible with analog input servo amplifiers A servo amplifier does not require an extra module to convert pulse input into analog voltage; a standard servo amplifier can be used. (3) Servomotor control using a high-resolution encoder This module handles up to 1Mpulse/s of pulse input from an encoder. Servomotor control that uses high-speed input pulse signals from a high-resolution encoder improves the accuracy of positioning. (4) Four types of positioning method The following control can be executed. Position control mode: positioning control and two-phase trapezoidal positioning control Speed-position control switch mode: speed-position control switchover and speed control (5) Zero/gain adjustment through a sequence program Zero/gain adjustment can be performed through a sequence program. Therefore, the adjustment can be performed without using a switch or checking a LED, saving man-hour. (Note that zero/gain adjustment can also be performed using switches on the front of the QD73A1.) (6) Easy setting with GX works2 Sequence programming is reduced since initial settings and the auto refresh setting can be configured on the screen. In addition, the setting status and operating status of the module can be checked easily. 18

21 CHAPTER 1 OVERVIEW 1.2 Signal Transmission Between the QD73A1 and Others 1 The following figure shows signal transmission between the QD73A1 and a CPU module, and a drive unit. CPU module QD73A1 Y2D X11 X12 Y20 X20 X13 Y21 to Y23 X21 to X23 X14 X15 Y2C Y24, Y25 Y26 Y27 X18 Y28 X19 Y29 X1A Y2A X16 X17 X1C X1D X1E, X1F X1B X10 X24 Y1A X2A Y1B X2B Y1C X2C X2D PLC READY signal QD73A1 READY signal OPR request signal OPR start signal OPR start complete signal OPR complete signal Positioning start signal Positioning start complete signal BUSY signal Positioning complete signal Speed-position switching enable signal JOG start signal Speed-position mode restart signal Stop signal Error detection signal Error reset signal Overflow signal Overflow reset signal Underflow signal Underflow reset signal In-position signal Excessive error signal Near-point dog signal External stop signal Upper limit signal/lower limit signal Servo READY signal WDT error, H/W error signal Synchronization flag Zero/gain adjustment data writing request signal Zero/gain adjustment data writing complete flag Zero/gain adjustment change request signal Zero/gain adjustment change complete flag Set value change request signal Set value change complete flag Operating status of the speed-position control switch mode Data writing/reading Interface with the CPU module External interface Stop signal (STOP) Near-point dog signal (DOG) Upper limit signal (FLS) Lower limit signal (RLS) Speed-position switching command signal (CHANGE) Phase-Z pulse (Zero signal) Phase-A pulse Phase-B pulse Servo READY signal (READY) Servo signal (SV) Analog voltage External control signals PLG Drive unit 1.2 Signal Transmission Between the QD73A1 and Others 19

22 (1) Between the CPU module and the QD73A1 The CPU module and the QD73A1 transmit control signals and data to each other through the base unit. Transmitted item Description Reference Control signal Data Signals that indicate the QD73A1's status or are related to commands are transmitted. Data is written to or read from the buffer memory in the QD73A1 by application instructions of the CPU module. Page 30, Section 3.4 Page 73, CHAPTER 5 (2) Between the drive unit and the QD73A1 Control signals are transmitted between the drive unit and the QD73A1, and speed commands (analog voltage) are output from the QD73A1 to the drive unit. For details, refer to the following. Page 40, Section

23 CHAPTER 2 SYSTEM CFIGURATI CHAPTER 2 SYSTEM CFIGURATI This chapter describes the system configuration of the QD73A Applicable Systems This section describes applicable systems. (1) Applicable modules and base units, and number of mountable modules For the applicable CPU modules and base units, and the number of mountable modules, refer to the user s manual for the CPU module used. Note the following when mounting modules with the CPU module. The power supply capacity may become insufficient depending on the combination with other modules or the number of mounted modules. Select the power supply capacity according to the modules to be used. If the power supply capacity is insufficient, change the combination of the modules. Mount the modules within the number of I/O points range of the CPU module. Modules can be mounted on any slot within the number of available slots. (a) When mounted on MELSECNET/H remote I/O station For an applicable MELSECNET/H remote I/O station and base units, and the number of mountable modules, refer to the Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O network). (2) Multiple CPU system The function version of the first released QD73A1 is B, and the module supports multiple CPU systems. When using the QD73A1 in a multiple CPU system, refer to the following. QCPU User's Manual (Multiple CPU System) (a) Intelligent function module parameters Write intelligent function module parameters to only the control CPU of the QD73A Applicable Systems (3) Online module change The QD73A1 does not support online module change. 21

24 (4) Applicable software packages The following table lists systems that use the QD73A1 and applicable software packages. A programming tool is required to use the QD73A1. Q00J/Q00/Q01CPU Q02/Q02H/Q06H/Q12H/Q25HCPU Q02PH/Q06PHCPU Q12PH/Q25PHCPU Item Single CPU system Multiple CPU system Single CPU system Multiple CPU system Single CPU system Multiple CPU system Single CPU system Multiple CPU system GX Developer *1 Version 7 or later Version 8 or later Version 4 or later Version 6 or later Version 8.68W or later Version 7.10L or later Q12PRH/Q25PRHCPU Redundant system Version 8.45X or later Q00UJ/Q00U/Q01UCPU Q02U/Q03UD/Q04UDH/Q06UDHCPU Q10UDH/Q20UDHCPU Q13UDH/Q26UDHCPU Q03UDE/Q04UDEH/Q06UDEH/Q13UDEH/Q26 UDEHCPU Q10UDEH/Q20UDEHCPU CPU modules other than the above Single CPU system Multiple CPU system Single CPU system Multiple CPU system Single CPU system Multiple CPU system Single CPU system Multiple CPU system Single CPU system Multiple CPU system Single CPU system Multiple CPU system Single CPU system Multiple CPU system Version 8.76E or later Version 8.48A or later Version 8.76E or later Version 8.62Q or later Version 8.68W or later Version 8.76E or later N/A Software version GX Works2 Refer to the GX Works2 Version 1 Operating Manual (Common). When mounted on a MELSECNET/H remote I/O station Version 6 or later *1 When using GX Developer, configure the initial settings and auto refresh settings with the sequence program. PROGRAMMING ( Page 111, CHAPTER 7) 22

25 CHAPTER 2 SYSTEM CFIGURATI 2.2 How to Check the Function Version and Serial Number The function version and serial number of the QD73A1 can be checked on the rating plate, front part of the module, or system monitor of the programming tool. 2 (1) Checking on the rating plate The rating plate is on the side of the QD73A1. Serial number (first five digits) Function version B Relevant regulation standards (2) Checking on the front part (bottom part) of the module The function version and serial number on the rating plate are also shown on the front part (bottom part) of the module. 2.2 How to Check the Function Version and Serial Number B Serial No. Function version 23

26 (3) Checking on the system monitor The function version and serial number can be checked on the "Product Information List" window. [Diagnostics] [System Monitor...] button The serial number displayed on the product information list of a programming tool may differ from that on the rating plate and on the front part of the module. The serial number on the rating plate and front part of the module indicates the management information of the product. The serial number displayed on the product information list of a programming tool indicates the function information of the product. The function information of the product is updated when a new function is added. 24

27 CHAPTER 3 SPECIFICATIS CHAPTER 3 SPECIFICATIS This chapter describes performance specifications, I/O signals from/to the CPU module, and buffer memory specifications of the QD73A1. For general specifications of the QD73A1, refer to the following. QCPU User's Manual (Hardware Design, Maintenance and Inspection) Performance Specifications The following table lists performance specifications of the QD73A1. Item Specifications Number of occupied I/O points 48 points (I/O assignment: empty 16 points and intelligent 32 points) Number of control axes 1 axis Positioning data Capacity 1 data Setting method Sequence program Mode Position control mode Speed-position control switch mode Position control mode: Selectable from absolute system or incremental System system Speed-position control switch mode: Incremental system Position command to (pulse) (signed 32-bit binary) Positioning Speed command 1 to (pulse/s) Acceleration Automatic trapezoidal acceleration/deceleration Automatic acceleration/deceleration time Acceleration time: 2 to 9999 (ms) Deceleration time: 2 to 9999 (ms) In-position range 1 to (pulse) Backlash compensation None Error correction function None Speed command output 0 to ±10VDC (Adjustable to set in the range of ±5 to ±10VDC) Positioning feedback Pulse frequency Open collector: 200kpulse/s TTL: 200kpulse/s Differential output: 1Mpulse/s pulse input Connectable encoder type Open collector, TTL, or differential output Multiplication setting The number of input feedback pulses can be multiplied by 4, 2, 1, or 1/2. OPR control With OP address change An OPR method and OPR direction can be set with the switch setting. JOG operation JOG operation can be started by inputting a JOG start signal. M function None Internal current consumption (5VDC) 0.52A External supply voltage/current terminal block No external power supply External dimensions 98(H)mm 55.2(W)mm 90(D)mm Weight 0.20kg Absolute system: 1.2ms (same for two-phase trapezoidal positioning) Incremental system: 1.2ms (same for two-phase trapezoidal positioning) Starting time JOG operation: 1.2ms (from a start request to analog output start) OPR (near-point dog method): 1.2ms OPR (count method): 1.2ms 3.1 Performance Specifications 25

28 3.2 Number of Parameter Settings Set initial settings and auto refresh settings of the QD73A1 so that the number of parameters, including those of other intelligent function modules, does not exceed the number of parameters that can be set in the CPU module. For the maximum number of parameters that can be set in the CPU module, refer to the following. QCPU User's Manual (Hardware Design, Maintenance and Inspection) (1) Number of QD73A1 parameters For a QD73A1, the following number of parameters can be set. Initial setting Auto refresh setting 4 5 (2) Checking method The maximum number of parameter settings and the number of parameter settings set for the intelligent function module can be checked on the following. Project window [Intelligent Function Module] Right-click [Intelligent Function Module Parameter List...] 1) 2) 3) 4) No. Description 1) The total number of parameters in initial settings checked on the window 2) The maximum number of parameter settings in initial settings 3) The total number of parameters in the auto refresh setting checked on the window 4) The maximum number of parameter settings in the auto refresh setting 26

29 CHAPTER 3 SPECIFICATIS 3.3 List of Functions This section introduces the functions of the QD73A1. (1) Main functions Major positioning functions are as follows. Item Description Reference OPR control A workpiece is returned to an original point following an OPR start Page 178, command, and the current value is corrected as an OP address after the CHAPTER 8 completion of OPR. Positioning control Position control Two-phase mode trapezoidal positioning control Major positioning control Speed-position control switch mode JOG operation (2) Sub functions Page 191, Positioning is executed from the current position to a specified position at Section a specified speed. (1) Positioning is executed to the address specified with " Da.2 Positioning Page 192, address P1" at " Da.3 Positioning speed V1", then to the address Section specified with " Da.4 Positioning address P2" at " Da.5 Positioning (2) speed V2" by one positioning start signal. Operation starts according to the positioning speed set beforehand by one positioning start signal, then the operation switches to position control by Speed-position switching command signal (CHANGE). If the operation stopped by Stop signal after the input of Speed-position Page 195, switching command signal (CHANGE), the positioning can be continued Section by requesting a restart. In addition, the positioning address (movement amount) can be changed if it is before the input of Speed-position switching command signal (CHANGE). Positioning is executed in the specified direction at specified speed while a JOG operation command is on. Turning on the signal starts operation Page 200, at a specified speed and speed control operation can be continued until a CHAPTER 10 stop signal is input. Sub functions compensate or limit control, or add functions at the execution of major positioning functions List of Functions Item Description Reference Functions to compensate control Electronic gear function This function controls moving distance and speed by multiplying command pulse output of the QD73A1. Page 209, Section 11.1 Speed limit function This function limits command speed to the value set in " Pr.5 Speed limit value". Page 211, Section 11.2 Functions to limit control Stroke limit function This function controls operation not to execute positioning when a command that moves the workpiece outside the specified stroke limit range is given. Page 213, Section 11.3 Upper limit switch (FLS)/lower limit switch (RLS) function This function decelerates and stops operation according to the detection on limit switches placed at the upper and lower stroke limits. Page 215, Section

30 Item Description Reference Current value change function This function changes the value set in " value" to a specified value. Md.1 Current feed Page 217, Section 11.5 Functions to change control details Speed change function Deviation counter clear function This function changes speed during major positioning control or JOG operation. This function clears the accumulated pulses in the deviation counter. When the servomotor power was turned off due to an emergency stop during positioning, clearing the accumulated pulses in the deviation counter prevents servomotor rotation at power recovery. Page 218, Section 11.6 Page 220, Section 11.7 This function turns on In-position signal (X16) while the accumulated pulse amount in the deviation counter is within In-position function the specified in-position range (1 to 20479pulse). In-position signal (X16) can be used as the signal right before positioning completion. Page 221, Section 11.8 Other functions Multiplication setting This function multiplies the feedback pulse frequency from the pulse generator by 4, 2, 1, or 1/2. Page 104, Section This function outputs an alert and immediately stops the Accumulated pulse error detection function positioning when the accumulated pulses reached the amount specified by the user before the pulses exceed the amount set in "Accumulated pulse setting" in the switch setting and an excessive error occurs. Page 223, Section 11.9 (3) Common functions Common functions can be used regardless of control method when necessary. Item Description Reference Zero/gain adjustment This function adjusts analog output voltage. Page 59, Section 4.5 Module status monitor function Error history function Module error collection function Error clear function This function monitors the module information, switch setting information, and external I/O signal information. The module's detailed information can be displayed on the system monitor of GX Works2. This function monitors the QD73A1's error history stored in the buffer memory. This function reports errors that occurred in the QD73A1 to the CPU module. The error information is held in the CPU module memory as a module error history. This function allows the user to clear errors on the system monitor. Page 236, Section 13.1 Page 238, Section 13.2 Page 239, Section 13.3 Page 240, Section

31 CHAPTER 3 SPECIFICATIS (4) Combination of main function and sub function : Always used together, : Can be used together, : Cannot be used together Functions to compensate control Functions to limit control Functions to change control details Other functions Item Electronic gear function Speed limit function Stroke limit function Upper limit switch (FLS)/ lower limit switch (RLS) function Current value change function Speed change function Deviation counter clear function In-position function Multiplication setting Accumulated pulse error detection function 3 OPR control Major positioning control Position control mode Positioning control Two-phase trapezoidal positioning control Speed-position control switch mode JOG operation 3.3 List of Functions 29

32 3.4 I/O Signals from/to the CPU Module This section describes I/O signals of the QD73A I/O signal list This section describes I/O signal assignment and use of each signal. The first half of the I/O assignment is empty 16 points, and the second half is intelligent 32 points. When the module is mounted on the slot No.0 and 1 of a main base unit, the device No.Xn0 becomes X10. Although, when the slot No.0 is set as empty 0 point in the I/O assignment setting of GX Works2, the device No.Xn0 becomes X0 (n=0). Device numbers used in this manual are for the case when the QD73A1 is mounted on the slot No.0 and 1 and when the slot No.0 is empty 16 points. (1) Input signal list Input signal (CPU module QD73A1) Input signal (CPU module QD73A1) Device No. Signal name Device No. Signal name X10 WDT error, H/W error signal X20 OPR start complete signal X11 QD73A1 READY signal X21 Absolute positioning start complete signal X12 OPR request signal X22 Forward start complete signal X13 OPR complete signal X23 Reverse start complete signal X14 BUSY signal X24 Synchronization flag X15 Positioning complete signal X25 X16 In-position signal X26 X17 Excessive error signal X27 Use prohibited X18 Error detection signal X28 X19 Overflow signal X29 X1A Underflow signal X2A Zero/gain adjustment data writing complete flag X1B Servo READY signal X2B Zero/gain adjustment change complete flag X1C Near-point dog signal X2C Set value change complete flag X1D External stop signal X2D Operating status of the speed-position control switch mode X1E Upper limit signal X2E X1F Lower limit signal X2F Use prohibited If a "Use prohibited" area is turned on/off through a sequence program, the QD73A1's function cannot be guaranteed. 30

33 CHAPTER 3 SPECIFICATIS (2) Output signal list Output signal (CPU module QD73A1) Output signal (CPU module QD73A1) Device No. Signal name Device No. Signal name Y10 Y20 OPR start signal Y11 Y21 Absolute positioning start signal Y12 Y22 Forward start signal Y13 Y23 Reverse start signal Y14 Y24 Forward JOG start signal Use prohibited Y15 Y25 Reverse JOG start signal Y16 Y26 Speed-position mode restart signal Y17 Y27 Stop signal Y18 Y28 Error reset signal Y19 Y29 Overflow reset signal Y1A Zero/gain adjustment data writing request signal Y2A Underflow reset signal Y1B Zero/gain adjustment change request signal Y2B Use prohibited Y1C Set value change request signal Y2C Speed-position switching enable signal Y1D Y2D PLC READY signal Y1E Use prohibited Y2E Y1F Y2F Use prohibited 3 If a "Use prohibited" area is turned on/off through a sequence program, the QD73A1's function cannot be guaranteed. 3.4 I/O Signals from/to the CPU Module I/O signal list 31

34 3.4.2 Details of input signals (1) WDT error, H/W error signal (X10) This signal turns on when a watchdog timer error is detected through the self-diagnostic function of the QD73A1. In this case, Servo signal (SV) turns off and analog output becomes 0. (2) QD73A1 READY signal (X11) When PLC READY signal (Y2D) is turned on through a sequence program, fixed parameters are checked and this signal turns on. When PLC READY signal (Y2D) is turned off, this signal turns off. PLC READY signal (Y2D) QD73A1 READY signal (X11) Executed by the QD73A1 Use this signal as an interlock in sequence programs. (3) OPR request signal (X12) This signal turns on at any of the following timing. When the power is turned on When the CPU module was reset When OPR starts When Servo READY signal (READY) turns off while BUSY signal (X14) is on When Servo READY signal (READY) turns off while BUSY signal (X14) is off (only when "0: Clear the deviation counter when the servo ready signal is." is selected for "Deviation counter clear setting" in the switch setting) This signal turns off when OPR is completed. When PLC READY signal (Y2D) is turned on (rising edge), this signal does not turn on. (4) OPR complete signal (X13) This signal turns on when OPR is completed. This signal does not turn on if operation stopped during OPR. This signal turns off when JOG operation or major positioning control is started. In the count method, this signal turns off when OPR starts. This signal turns off when Servo READY signal (READY) turns off (only when "0: Clear the deviation counter when the servo ready signal is." is selected for "Deviation counter clear setting" in the switch setting) (5) BUSY signal (X14) This signal turns on when major positioning control, JOG operation, or OPR starts. This signal turns off when command pulse output is completed. If positioning is started while BUSY signal (X14) is on, the error "BUSY signal at start" (error code: 81) occurs. 32

35 CHAPTER 3 SPECIFICATIS (6) Positioning complete signal (X15) This signal turns on when major positioning control is completed (completion of command pulse output). This signal turns off when the next positioning (major positioning control, OPR, or JOG operation) starts. If major positioning control was cancelled during its operation, this signal does not turn on. For the operation in case of cancellation of major positioning control, refer to the following. Page 230, Section 12.1 (7) In-position signal (X16) This signal turns on while the accumulated pulse amount in the deviation counter is within the set range of " Pr.8 In-position range" (1 to ±20479) after deceleration started. This signal turns off when positioning starts. Accumulated pulses In-position set values 3 In-position signal (X16) t A: In-position range A A Accumulated pulse amount are checked being compared with " When the power is turned on In-position range" at the following timing. When automatic deceleration starts in positioning, and thereafter When a JOG start signal was turned off and deceleration starts in JOG operation, and thereafter When the near-point dog turned on and deceleration to the creep speed starts in OPR, and thereafter (8) Excessive error signal (X17) This signal turns on when accumulated pulse amount exceeds the accumulated pulse setting range. In this case, the QD73A1's status is as follows. Analog output voltage: 0V Accumulated pulse: Reset to 0 Servo signal (SV): Md.2 Actual current value = Md.1 Current feed value When PLC READY signal (Y2D) is turned on, this signal turns off. Pr I/O Signals from/to the CPU Module Details of input signals Excessive error signal (X17) PLC READY signal (Y2D) Executed by the QD73A1 Even if this signal turns on, Error detection signal (X18) does not turn on. For the accumulated pulse setting range, refer to the following. Page 102, Section

36 (9) Error detection signal (X18) When a major or minor error occurs, the corresponding error code is stored in the buffer memory, and this signal turns on. When Error reset signal (Y28) is turned on, this signal turns off. Error detection signal (X18) Error reset signal (Y28) Executed by the QD73A1 (10)Overflow signal (X19) This signal turns on when " Md.1 Current feed value" exceeds When Overflow reset signal (Y29) is turned on, this signal turns off. Overflow signal (X19) Overflow reset signal (Y29) Executed by the QD73A1 In case of an overflow, " Md.1 Current feed value" changes as follows: (11)Underflow signal (X1A) This signal turns on when " Md.1 Current feed value" becomes less than When Underflow reset signal (Y2A) is turned on, this signal turns off. Underflow signal (X1A) Underflow reset signal (Y2A) Executed by the QD73A1 In case of an underflow, " Md.1 Current feed value" changes as follows: (12)Servo READY signal (X1B) This signal indicates the on/off status of Servo READY signal (READY). (13)Near-point dog signal (X1C) This signal indicates the on/off status of Near-point dog signal (DOG). (14)External stop signal (X1D) This signal indicates the on/off status of Stop signal (STOP). (15)Upper limit signal (X1E) This signal indicates the on/off status of Upper limit signal (FLS). (16)Lower limit signal (X1F) This signal indicates the on/off status of Lower limit signal (RLS). 34

37 CHAPTER 3 SPECIFICATIS (17)OPR start complete signal (X20) This signal turns on when OPR process starts after OPR start signal (Y20) was turned on. When OPR start signal (Y20) is turned off after the start of OPR, this signal turns off. (18)Absolute positioning start complete signal (X21) This signal turns on when positioning process starts after Absolute positioning start signal (Y21) was turned on. When Absolute positioning start signal (Y21) is turned off after the start of the positioning, this signal turns off. 3 (19)Forward start complete signal (X22) This signal turns on when positioning process starts after Forward start signal (Y22) was turned on. When Forward start signal (Y22) is turned off after the start of the positioning, this signal turns off. (20)Reverse start complete signal (X23) This signal turns on when positioning process starts after Reverse start signal (Y23) was turned on. When Reverse start signal (Y23) is turned off after the start of the positioning, this signal turns off. (21)Synchronization flag (X24) This signal turns on when the CPU module becomes accessible to the QD73A1 after the power was turned off then on, or after the CPU module was reset. When the module synchronization setting of the CPU module is set to asynchronous, use this signal as an interlock to access the QD73A1 from a sequence program. (22)Zero/gain adjustment data writing complete flag (X2A) This signal turns on when zero/gain adjustment value writing to the QD73A1 is completed after Zero/gain adjustment data writing request signal (Y1A) was turned on. When Zero/gain adjustment data writing request signal (Y1A) is turned off, this signal turns off. Zero/gain adjustment data writing complete flag (X2A) Zero/gain adjustment data writing request signal (Y1A) Use this signal as an interlock condition to turn on/off Zero/gain adjustment data writing request signal (Y1A) when writing the zero/gain adjustment value to the QD73A1. For details on zero/gain adjustment, refer to the following. Page 59, Section 4.5 Executed in a sequence program Executed by the QD73A1 3.4 I/O Signals from/to the CPU Module Details of input signals 35

38 (23)Zero/gain adjustment change complete flag (X2B) This signal turns on when zero adjustment and gain adjustment were switched after Zero/gain adjustment change request signal (Y1B) was turned on. When Zero/gain adjustment change request signal (Y1B) is turned off, this signal turns off. Cd.10 Zero/gain adjustment specification Zero/gain adjustment change complete flag (X2B) Zero/gain adjustment change request signal (Y1B) Executed in a sequence program Executed by the QD73A1 Use this signal as an interlock condition to turn on/off Zero/gain adjustment change request signal (Y1B) when changing " Cd.10 Zero/gain adjustment specification". For details on zero/gain adjustment, refer to the following. Page 59, Section 4.5 (24)Set value change complete flag (X2C) This signal turns on when the analog output value of zero/gain adjustment was changed after Set value change request signal (Y1C) was turned on. When Set value change request signal (Y1C) is turned off, this signal turns off. Set value change complete flag (X2C) Set value change request signal (Y1C) Executed in a sequence program Executed by the QD73A1 Use this signal as an interlock condition to turn on/off Set value change request signal (Y1C) when performing zero/gain adjustment. For details on zero/gain adjustment, refer to the following. Page 59, Section 4.5 (25)Operating status of the speed-position control switch mode (X2D) This signal indicates the operating status in the speed-position control switch mode. This signal is on during speed control. This signal is off during position control. 36

39 CHAPTER 3 SPECIFICATIS Details of output signals (1) Zero/gain adjustment data writing request signal (Y1A) Turn on this signal to write the zero/gain adjustment value to the QD73A1. For the on/off timing of this signal, refer to the detail of Zero/gain adjustment data writing complete flag (X2A). ( Page 35, Section (22)) For details on zero/gain adjustment, refer to the following. Page 59, Section (2) Zero/gain adjustment change request signal (Y1B) Turn on this signal to change zero adjustment and gain adjustment. For the on/off timing of this signal, refer to the detail of Zero/gain adjustment change complete flag (X2B). ( Page 36, Section (23)) For details on zero/gain adjustment, refer to the following. Page 59, Section 4.5 (3) Set value change request signal (Y1C) Turn on/off this signal to increase/decrease the analog output value at zero/gain adjustment. The analog output is increased/decreased according to the value set in " Zero/gain adjustment value specification". For the on/off timing of this signal, refer to the detail of Set value change complete flag (X2C). ( Page 36, Section (24)) For details on zero/gain adjustment, refer to the following. Page 59, Section 4.5 (4) OPR start signal (Y20) Turn on this signal to start OPR. (5) Absolute positioning start signal (Y21) Turn on this signal to start absolute system positioning (position control mode). (6) Forward start signal (Y22) Turn on this signal to start positioning in the address increasing direction. The following table describes the consequence of turning on this signal for each type of positioning (major positioning control). Cd I/O Signals from/to the CPU Module Details of output signals Major positioning control Positioning control Position control mode Two-phase trapezoidal positioning control Speed-position control switch mode Consequence of turning on Forward start signal (Y22) Starts in the address increasing direction (incremental system) Starts in the address increasing direction 37

40 (7) Reverse start signal (Y23) Turn on this signal to start positioning in the address decreasing direction. The following table describes the consequence of turning on this signal for each type of positioning (major positioning control). Major positioning control Positioning control Position control mode Two-phase trapezoidal positioning control Speed-position control switch mode Consequence of turning on Reverse start signal (Y23) Starts in the address decreasing direction (incremental system) Starts in the address decreasing direction (8) Forward JOG start signal (Y24) Turn on this signal to start JOG operation in the address increasing direction. The JOG operation continues while this signal is on. The JOG operation decelerates and stops when this signal is turned off. (9) Reverse JOG start signal (Y25) Turn on this signal to start JOG operation in the address decreasing direction. The JOG operation continues while this signal is on. The JOG operation decelerates and stops when this signal is turned off. (10)Speed-position mode restart signal (Y26) Turn on this signal to restart positioning if it stopped due to Stop signal in the speed-position control switch mode. (11)Stop signal (Y27) Turn on this signal to decelerate and stop OPR operation, major positioning operation, or JOG operation. If this signal is turned on during OPR, Error detection signal (X18) turns on. (12)Error reset signal (Y28) Turn on this signal to clear the following buffer memory data to 0 when Error detection signal (X18) is on. Md.3 Error code (ERR.1) Md.4 Error code (ERR.2) When this signal is turned on, Error detection signal (X18) turns off. (13)Overflow reset signal (Y29) Turn on this signal to turn off Overflow signal (X19) when it is on. For the on/off timing of this signal, refer to the detail of Overflow signal (X19). ( Page 34, Section (10)) 38

41 CHAPTER 3 SPECIFICATIS (14)Underflow reset signal (Y2A) Turn on this signal to turn off Underflow signal (X1A) when it is on. For the on/off timing of this signal, refer to the detail of Underflow signal (X1A). ( Page 34, Section (11)) (15)Speed-position switching enable signal (Y2C) Use this signal to enable/disable Speed-position switching command signal (CHANGE) in the speed-position control switch mode. Turn on this signal to enable Speed-position switching command signal (CHANGE). Turn off this signal to disable Speed-position switching command signal (CHANGE). 3 (16)PLC READY signal (Y2D) This signal notifies the QD73A1 that the CPU module is operating normally. This signal needs to be turned on beforehand to start OPR, major positioning, or JOG operation. This signal needs to be turned off beforehand to write fixed parameters and OPR parameters. When this signal is turned on, the QD73A1 performs the following. 1: Checking fixed parameters 2: Turning on QD73A1 READY signal (X11) 3: Turning off Excessive error signal (X17) when it is on When this signal is turned off while BUSY signal (X14) is on, the QD73A1 processes a deceleration stop. When this signal is turned on while BUSY signal (X14) is on, the QD73A1 does not perform the operations 1 to 3 above. Deceleration followed by PLC READY signal (Y2D) Even when PLC READY signal (Y2D) is turned on, the operations 1 to 3 are not performed. PLC READY signal (Y2D) QD73A1 READY signal (X11) BUSY signal (X14) Executed by the QD73A1 3.4 I/O Signals from/to the CPU Module Details of output signals 39

42 3.5 Specifications of I/O Interfaces with External Devices This section describes I/O interfaces between the QD73A1 and external devices Electrical specifications of I/O signals This section describes electrical specifications of I/O interfaces between the QD73A1 and external devices. (1) Input specifications Signal name Supply power Input common Servo READY signal (READY) Stop signal (STOP) Near-point dog signal (DOG) Upper limit signal (FLS) Lower limit signal (RLS) Speed-position switching command signal (CHANGE) (Open collector method) Phase-A feedback pulse (PULSE A) Phase-B feedback pulse (PULSE B) Phase-Z feedback pulse (PULSE Z) (TTL method) Phase-A feedback pulse (PULSE A) Phase-B feedback pulse (PULSE B) Phase-Z feedback pulse (PULSE Z) (Differential output method) Phase-A feedback pulse (PULSE A) Phase-B feedback pulse (PULSE B) Phase-Z feedback pulse (PULSE Z) Voltage range/current consumption 5 to 24VDC/ Max.60mA 4.75 to 26.4VDC 10.8 to 14VDC 4.5 to 5.5VDC voltage current voltage current Pulse frequency 3V or 2.5mA or 0.1mA or 1V or lower higher higher lower 4V or 2.7mA or 0.1mA or 200kpulse/s or 1V or lower higher higher lower less *1 2.8V or 0.8V or 200kpulse/s or higher lower less *1 EIA standard RS-422-A differential line receiver 1Mpulse/s or (Equivalent of AM26LS32 (Manufactured by Texas less *1 Instruments Inc.)) *1 The following table shows the pulse width and phase difference depending on pulse frequency. Pulse frequency Pulse width (duty ratio: 50%) Phase difference 200kpulse/s or less 5 s or more Phase A 1Mpulse/s or less 2.5 s or more 2.5 s or more 1 s or more Phase B Phase A 1.25 s or more When the phase A leads the phase B, the positioning address (current value) increases. 0.5 s or more 0.5 s or more Phase B 0.25 s or more 40

43 CHAPTER 3 SPECIFICATIS (2) Output specifications Max. Signal name Analog output Load Load voltage Leakage Output method voltage/current voltage current drop at current at Servo signal (SV) Open collector 4.75 to Max.30mA *1 1.0V or 26.4VDC lower 0.1mA or lower Speed command signal (analog signal) 0 to ±10VDC/10mA 3 *1 The load current of Servo signal (SV) is 30mA at the maximum. When using a miniature relay, take the load current into consideration. 3.5 Specifications of I/O Interfaces with External Devices Electrical specifications of I/O signals 41

44 3.5.2 Signal layout for external device connectors The following table shows signal layouts on external device connectors. Connector name CT. Pin arrangement Pin number Signal name 1 Near-point dog signal (DOG) 2 Empty 3 Empty Empty 5 Power supply (5 to 24V) 6 Lower limit signal (RLS) 7 Upper limit signal (FLS) 8 Speed-position switching command signal (CHANGE) SERVO Viewed from the front of the module Viewed from the front of the module 9 Stop signal (STOP) 1 Servo READY signal (READY) (+ side) 2 Servo READY signal (READY) (- side) 3 Servo signal (SV) (+ side) 4 Servo signal (SV) (- side) 5 Phase-B feedback pulse (PULSE B) (+ side) 6 Phase-Z feedback pulse (PULSE Z) (+ side) 7 Phase-Z feedback pulse (PULSE Z) (- side) 8 Empty 9 Analog GND 10 Phase-B feedback pulse (PULSE B) (- side) 11 Phase-A feedback pulse (PULSE A) (- side) 12 Empty 13 Phase-A feedback pulse (PULSE A) (+ side) 14 Speed command signal (- side) 15 Speed command signal (+ side) 42

45 CHAPTER 3 SPECIFICATIS List of I/O signal details This section describes details of signals that are input or output through external device connectors on the QD73A1. Signal name Phase-A feedback pulse (PULSE A) (+ side) Phase-B feedback pulse (PULSE B) (+ side) Phase-Z feedback pulse (PULSE Z) (+ side) Connector name Pin number Signal detail Feedback pulse signals of encoder's phases A, B, and Z are input. When the phase A leads the phase B, the positioning address increases at the rising and falling edges of each phase. When the phase B leads the phase A, the positioning address decreases at the rising and falling edges of each phase. 3 Phase-A feedback pulse (PULSE A) (- side) Phase-B feedback pulse (PULSE B) (- side) Phase-Z feedback pulse (PULSE Z) (- side) SERVO [When increased] Phase A Phase B Positioning address [When decreased] Phase A Phase B Positioning address Analog GND 9 Upper limit signal (FLS) 7 This signal is input from the limit switch placed at stroke upper limit position. As this signal turns off, positioning stops. Lower limit signal (RLS) 6 This signal is input from the limit switch placed at stroke lower limit position. As this signal turns off, positioning stops. Near-point dog signal (DOG) 1 This signal is used for detection on the near-point dog during OPR. As the near-point dog turns on, this signal is detected. Input this signal to stop positioning. Stop signal (STOP) CT. As this signal is turned on, the QD73A1 cancels the positioning 9 in execution. Once this signal was turned on, the operation does not restart even if this signal is turned off. Speed-position switching command Input this signal to switch control during the speed-position control 8 signal (CHANGE) switch mode. This power supply is common to the following signals. Upper limit signal (FLS) Power supply (5 to 24V) 5 Lower limit signal (RLS) Near-point dog signal (DOG) Stop signal (STOP) Speed-position switching command signal (CHANGE) 3.5 Specifications of I/O Interfaces with External Devices List of I/O signal details 43

46 Signal name Connector Pin name number Signal detail This signal turns on when the drive unit is ready to operate. Servo READY signal (READY) Positioning cannot be started when this signal is off. 1 (+ side) If this signal turns off during positioning, the system stops. The system does not operate even if this signal is turned on again. Servo READY signal (READY) (- side) 2 This line is common to Servo READY signal (READY). Wire this signal without fail to prevent malfunction of the servomotor. SERVO This signal turns on automatically if there is no hardware error Servo signal (SV) (+ side) 3 at a system startup. This signal turns off if an error was detected due to an excessive error or by the QD73A1's self-diagnosis on its hardware. Servo signal (SV) (- side) 4 This line is common to Servo signal (SV). Speed command signal (+ side) 15 The analog voltage converted from digital accumulated pulse amount is output. Speed command signal (- side) 14 This line is common to Speed command signal. 44

47 CHAPTER 3 SPECIFICATIS I/O interface internal circuit This section shows internal circuits of external device interfaces on the QD73A1 in schematic diagrams. External wiring Pin No. Internal circuit Signal name Remark 5VDC 5 Power supply Input a voltage of 5 to 24VDC. 3 24VDC 1 2.4k Near-point dog signal (DOG) k Stop signal (STOP) k Upper limit signal (FLS) If not using these signals, keep them on k Lower limit signal (RLS) 8 2.4k Speed-position switching command signal (CHANGE) - 5VDC 24VDC k Servo READY signal (READY) - Load 5 to 24VDC Servomotor, module, or others 1k to 1M *1 0V (analog GND) 5V 1k 1k SN V 1k 1k 5V 1k Servo signal (SV) Speed command signal Phase-A feedback pulse Phase-B feedback pulse - - [For differential input] Connect these terminals to the terminal/ connector for pulse output of an encoder. 3.5 Specifications of I/O Interfaces with External Devices I/O interface internal circuit Phase-Z feedback pulse 7 1k 9 0V Analog GND *1 When input impedance of the servo amplifier is low, analog output level may become low due to this resistance. If that causes a problem, perform gain adjustment again with the servo amplifier being connected. 45

48 External wiring Pin No. Internal circuit Signal name Remark 1.2k 12V 13 Phase-A feedback pulse k 12V 5 [For open collector input] Phase-B feedback pulse Connect these terminals to the terminal/ k 12V connector for pulse output of an encoder. Output is pulled up to 12V inside. 6 Phase-Z feedback pulse 7 9 0V Analog GND 1k 5V 13 Phase-A feedback pulse 11 1k 5V k 5V Phase-B feedback pulse [For TTL input] Connect these terminals to the terminal/ connector for pulse output of an encoder. 6 Phase-Z feedback pulse 7 GND 9 0V Analog GND 46

49 CHAPTER 3 SPECIFICATIS 3.6 Memory Configuration and Use There are two memories in the QD73A1. Area configuration : Data setting and storage, : No data setting and storage Memory configuration Use Parameter area Monitor data area Control data area Positioning data area Zero/gain adjustment data area Reference value storage area for accumulated pulse error detection function Backup 3 Buffer memory Area that can be accessed directly from the CPU module using sequence programs Data in this memory cannot be backed up. Data are erased if the power is turned off. Flash ROM Area used to back up zero/gain adjustment data Data in this memory can be backed up. Data are kept even if the power is turned off. The following table describes each memory area. Area name Description Reference Parameter area Area used to set and store parameters for positioning, such as positioning parameters and OPR parameters Page 75, Section 5.2 Page 79, Section 5.3 Monitor data area Area where operating statuses of a positioning system are stored Page 85, Section 5.5 Control data area Area used to set and store data to operate or control a positioning system Page 89, Section 5.6 Positioning data area Area used to set and store positioning data Page 82, Section 5.4 Zero/gain adjustment data area Area used to set and store data for zero adjustment and gain adjustment Reference value storage area for accumulated pulse error detection function Area used to store the reference value for the accumulated pulse error detection function 3.6 Memory Configuration and Use 47

50 3.7 List of Buffer Memory Addresses This section lists the buffer memory addresses of the QD73A1. For details on the buffer memory, refer to the following. Page 73, CHAPTER 5 Do not write data to system areas and area where data cannot be written from sequence programs in the buffer memory. Writing data to these areas may cause malfunction. Address (decimal) Address (hexadecimal) Data type *1 Name Default value *2 Read/ Write *3 Memory area *4 Reference 0 0 H Pr.1 Stroke limit upper limit R/W 1 1 H Page 76, Section H Positioning Pr.2 Stroke limit lower limit 0 R/W 3 3 H parameter Parameter (1) 4 4 H (fixed area Pr.3 Numerator of command pulse parameter) 1 R/W Page 77, multiplication for electronic gear Section H Pr.4 Denominator of command pulse multiplication for electronic gear 1 R/W (2) 6 6 H System area H H Page 77, H Pr.5 Speed limit value R/W Section 5.2 (3) H Pr.6 Acceleration time 300 R/W Page 78, H Positioning Section 5.2 parameter Pr.7 Deceleration time 300 R/W Parameter (4) (variable area Page 78, H parameter) Pr.8 In-position range 5 R/W Section 5.2 (5) H Pr.9 Positioning mode 0 R/W Page 78, Section 5.2 (6) 26 1A H System area H 48

51 CHAPTER 3 SPECIFICATIS Address (decimal) Address (hexadecimal) Data type *1 Name Default value *2 Read/ Write *3 Memory area *4 Reference H H Pr.10 OP address 0 R/W Page 79, Section 5.3 (1) 42 2A H OPR speed R/W 43 2B H OPR 44 2C H parameter Creep speed 1000 R/W 45 2D H Pr.11 Pr.12 Parameter area Page 79, Section 5.3 (2) Page 80, Section 5.3 (3) E H Pr.13 Setting for the movement 47 2F H amount after near-point dog 75 R/W Page 81, Section 5.3 (4) H System area 79 4F H H H Cd.1 New current value H H Cd.2 New speed value 0 R/W R/W H H Cd.3 JOG speed 0 R/W H 57 H Control Cd.4 Deviation counter clear data command (control Cd.5 change Analog output adjustment area area) R/W R/W H Cd.6 New speed-position movement H amount 0 R/W 90 5A H Current value change request 0 R/W Cd B H Speed change request 0 R/W Cd C H Cd.9 Analog output adjustment area D H 2 0 R/W 94 5E H control data Cd.10 Zero/gain adjustment specification 0 R/W 95 5F H Cd.11 Zero/gain adjustment value (zero/gain specification adjustment 0 R/W H area) Cd.12 Factory default zero/gain adjustment value restoration request 0 R/W Control data area Page 89, Section List of Buffer Memory Addresses H System area H 49

52 Address (decimal) Address (hexadecimal) Data type *1 Name Default value *2 Read/ Write *3 Memory area *4 Reference H H Md.1 Current feed value 0 R H Actual current value 0 R H Md H Error code (ERR.1) 0 R Md H Error code (ERR.2) 0 R Md A H Md.5 Deviation counter value 107 6B H (address) 0 R 108 6C H Md.6 Movement amount after nearpoint dog 109 6D Monitor H data 0 R 110 6E H Md.7 (monitor Speed-position switching area) command 0 R 111 6F H Control mode 0 R Md H Zero/gain execution status 0 R Md H Zero/gain adjustment status 0 R Md H Feedrate 0 R H H Deviation counter value (pulse) 0 R H Md.11 Md.21 Monitor data area Page 85, Section H Md.22 Movement amount after nearpoint dog (absolute H value) 0 R H Md.12 Error code H Md.13 Error occurrence (Year: Month) 122 7A H Record 0 Md.14 Error occurrence (Day: Hour) 123 7B H Md.15 Error occurrence Monitor (Minute: Second) 124 7C H data (monitor Error code and error 125 7D H area) occurrence (The same Record E H data structure as record 127 7F H 0) 0000 H 0000 H 0000 H Same as record 0 R R H H H H Record 2 Error code and error occurrence (The same data structure as record 0) Same as record 0 R 50

53 CHAPTER 3 SPECIFICATIS Address (decimal) Address (hexadecimal) Data type *1 Name Default value *2 Read/ Write *3 Memory area *4 Reference H H H H H H 138 8A H 139 8B H Record 3 Record 4 Error code and error occurrence (The same data structure as record 0) Error code and error occurrence (The same data structure as record 0) Same as record 0 Same as record 0 R R C H 141 8D H 142 8E H 143 8F H Record 5 Error code and error occurrence (The same data structure as record 0) Same as record 0 R H H H H H H H H Monitor data (monitor area) Record 6 Record 7 Error code and error occurrence (The same data structure as record 0) Error code and error occurrence (The same data structure as record 0) Same as record 0 Same as record 0 R R Monitor data area Page 85, Section H H 154 9A H 155 9B H 156 9C H 157 9D H 158 9E H 159 9F H 160 A0 H 161 A1 H 162 A2 H 163 A3 H Record 8 Record 9 Record 10 Error code and error occurrence (The same data structure as record 0) Error code and error occurrence (The same data structure as record 0) Error code and error occurrence (The same data structure as record 0) Same as record 0 Same as record 0 Same as record 0 R R R 3.7 List of Buffer Memory Addresses 51

54 Address (decimal) Address (hexadecimal) Data type *1 Name Default value *2 Read/ Write *3 Memory area *4 Reference 164 A4 H 165 A5 H 166 A6 H 167 A7 H Record 11 Error code and error occurrence (The same data structure as record 0) Same as record 0 R 168 A8 H 169 A9 H 170 AA H 171 AB H Record 12 Error code and error occurrence (The same data structure as record 0) Same as record 0 R 172 AC H 173 AD H 174 AE H 175 AF H Monitor data (monitor area) Record 13 Error code and error occurrence (The same data structure as record 0) Same as record 0 R Monitor data area Page 85, Section B0 H 177 B1 H 178 B2 H 179 B3 H Record 14 Error code and error occurrence (The same data structure as record 0) Same as record 0 R 180 B4 H 181 B5 H 182 B6 H 183 B7 H Record 15 Error code and error occurrence (The same data structure as record 0) Same as record 0 R 184 B8 H Error history pointer 0 R 185 B9 H Md.16 System area 199 C7 H 200 C8 H 201 C9 H Md.17 value Maximum accumulated pulse 0 R 202 CA H Monitor Md.18 Minimum accumulated pulse 203 CB H data value (monitor Md.19 Accumulated pulse error 204 CC H area) detection function status 0 R 0 R Monitor data area Page 85, Section 5.5 Md.20 Reference value measurement 205 CD H flag 0 R 206 CE H System area C H 52

55 CHAPTER 3 SPECIFICATIS Address (decimal) Address (hexadecimal) Data type *1 Name Default value *2 Read/ Write *3 Memory area *4 Reference D H Da.1 Positioning pattern 0 R/W Page 82, Section 5.4 (1) E H Positioning address P1 0 R/W F H Da H Positioning Da.3 Positioning speed V1 0 R/W H data Positioning data area Page 83, Section 5.4 (2) Page 84, Section 5.4 (3) H Positioning address P2 0 R/W H Da.4 Page 84, Section 5.4 (4) H Positioning speed V2 0 R/W H Da.5 Page 84, Section 5.4 (5) H System area F H H H Cd.13 Alert output accumulated pulse setting value (maximum value) 0 R/W H Cd.14 Immediate stop accumulated H pulse setting value (maximum value) 0 R/W H Cd.15 Alert output accumulated pulse H setting value (minimum value) 0 R/W H Control Cd.16 Immediate stop accumulated data H pulse setting value (minimum value) 0 R/W H Cd.17 Accumulated pulse setting value selection 0 R/W H Cd.18 Accumulated pulse error detection request 0 R/W A H Measurement start request 0 R/W Cd B H Reference value write request 0 R/W Cd.20 Control data area Page 89, Section List of Buffer Memory Addresses C H System area E9 H *1 For types of data, refer to the following. Page 73, Section 5.1 *2 Default values are set after the power was turned off and on or the CPU module was reset. *3 This column indicates whether the data can be read from or written to the buffer memory area through sequence programs. R: Readable W: Writable *4 For the memory configuration, refer to the following. Page 47, Section

56 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI This chapter describes the procedure prior to operation, part names, zero/gain adjustment, and wiring method of the QD73A Handling Precautions This section describes the handling precautions for the QD73A1. Do not disassemble the module. Doing so may cause failure, malfunction, injury, or a fire. Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may cause the module to fail or malfunction. After the first use of the product, do not mount/remove the module to/from the base unit, and the terminal block to/from the module more than 50 times (IEC compliant) respectively. Exceeding the limit may cause malfunction. Use the programmable controller in an environment that meets the general specifications in the user's manual for the CPU module used. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. To mount the module, while pressing the module mounting lever located in the lower part of the module, fully insert the module fixing projection(s) into the hole(s) in the base unit and press the module until it snaps into place. Incorrect mounting may cause malfunction, failure or drop of the module. When using the programmable controller in an environment of frequent vibrations, fix the module with a screw. Tighten the screws such as a module fixing screw within the specified torque range. Undertightening can cause drop of the screw, short circuit or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction. Screw Module fixing screw (M3 screw) *1 Connector screw (M2.6 screw) Tightening torque range 0.36 to 0.48N m 0.20 to 0.29N m *1 The module can be easily fixed onto the base unit using the hook at the top of the module. However, it is recommended to secure the module with the module fixing screw if the module is subject to significant vibration. Do not directly touch any conductive parts and electronic components of the module. Doing so can cause malfunction or failure of the module. Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a fire, failure, or malfunction. Do not drop the module case, or do not subject it to strong impact. Lock the control panel so that only specialists educated in electric installation can open it. 54

57 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI 4.2 Settings and Procedure Before Operation This section shows the procedure before operating the QD73A1. Start Mounting the module Mount the QD73A1 on a specified slot. Wiring Wire external devices to the QD73A1. Page 64, Section Switch setting Configure settings using GX Works2. Page 100, Section 6.2 Execute zero/gain adjustment? NO YES Zero/gain adjustment Adjust a gain using a switch on the front part of the QD73A1, or I/O signals and the buffer memory. Page 59, Section 4.5 Connection check Check the connection using GX Works2. Page 236, Section 13.1 Operation check of the drive unit Check the operation of the drive unit with forward/ reverse JOG operations in the factory default status. Page 135, Section Configure the initial setting using GX Works2? YES Initial setting Configure the initial setting using GX Works2. Page 108, Section 6.3 Configure the auto refresh setting? NO NO Initial setting Create a sequence program in which initial settings are configured. Page 117, Section Settings and Procedure Before Operation YES Auto refresh setting Configure the auto refresh setting using GX Works2. Page 110, Section 6.5 Programming and debugging Create and check a sequence program. Page 111, CHAPTER 7 Operation 55

58 4.3 Part Names This section describes the part names of the QD73A1. 1) 2) 4) 3) 2 1 ADJUSTMENT MODE NORMAL MODE 5) 6) 7) 8) Number Name Description Reference RUN LED ERR. LED Indicates the operating status or error status of the QD73A1 1) A LED B LED Z LED Indicates the status of pulses on an encoder input phase A, B, or Z Page 58, Section 4.4 BUSY LED Indicates the status of BUSY signal (X14) or writing of zero adjustment value and gain adjustment value 2) ZERO LED GAIN LED Indicates the status of zero/gain adjustment 3) SELECT/SET switch UP/DOWN switch A switch for zero adjustment and gain adjustment A switch to adjust an analog output voltage value Page 61, Section 4.5 (4) Check pins to measure analog output voltage 4) OUT terminal GND terminal (Use these pins for zero/gain adjustment.) [Inside diameter] 2.03mm for both OUT terminal and GND terminal Page 59, Section

59 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI Number Name Description Reference 5) SERVO connector A connector for a drive unit Page 43, Section ) CT. connector A connector for external control devices Page 69, Section ) Serial number display Displays the serial number of the QD73A1 8) Mode switch A switch to change the operation mode to the zero/gain adjustment mode. Page 61, Section 4.5 (4) (DIP switch 1 and 2 are off as the factory default.) (a) Part Names 57

60 4.4 LED The LEDs on the front of the QD73A1 indicate the statuses of the module and axis control. QD73A1 RUN ERR. A B Z BUSY ZERO GAIN Indication : : : Flashing RUN A ZERO B GAIN Z ERR. BUSY RUN A ZERO B GAIN Z ERR. BUSY Attention RUN LED: (All the other LEDs are or.) RUN LED: ERR. LED: Description The power is off. A hardware error is occurring. A watchdog timer error is occurring. If the RUN LED does not turn on even after the power was turned off and on, the module may be broken. Replace the module with another module. The module is operating normally. RUN A ZERO B GAIN Z ERR. BUSY ERR. LED: (All the other LEDs are or.) An error is occurring. Read out the error code, and take the corrective action described in the error code list. ( Page 252, Section ) RUN A ZERO B GAIN Z ERR. BUSY BUSY LED: (All the other LEDs are or.) Positioning is in execution. The LED turns off when the positioning is completed. RUN A ZERO B GAIN Z ERR. BUSY A LED: or flashing B LED: or flashing Z LED: or flashing Pulses are input through the pulse input terminals (phase A, B, and Z). RUN A ZERO B GAIN Z ERR. BUSY RUN LED: Flashing ZERO LED: Zero adjustment of analog output is being performed. The LED turns off when the zero adjustment is completed. RUN A ZERO B GAIN Z ERR. BUSY RUN A ZERO B GAIN Z ERR. BUSY RUN LED: Flashing GAIN LED: RUN LED: Flashing BUSY LED: (The ZERO LED is during zero adjustment. The GAIN LED is during gain adjustment.) Gain adjustment of analog output is being performed. The LED turns off when the gain adjustment is completed. The zero adjustment value and the gain adjustment value are being written. The LED turns off when writing of the zero adjustment value and gain adjustment value is completed. 58

61 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI 4.5 Zero/gain Adjustment Zero/gain adjustment is a process to adjust analog output voltage according to accumulated pulse amount. Adjust the analog output voltage value according to the analog speed command input of the drive unit used. Adjust analog output voltage using the check pins on the front of the QD73A1. For the position of check pins, refer to the following. Page 56, Section 4.3 (1) Zero adjustment Adjust the analog output voltage of when accumulated pulse amount is "0". The voltage is adjusted to 0V as the factory default. Zero adjustment may vary when the module is connected to a servomotor. In that case, perform zero adjustment again. If the module is used with its zero adjustment being off, the connected servomotor rotates a little when the power is turned on. 4 (2) Gain adjustment Adjust the analog output voltage of when accumulated pulse amount is the maximum. In the factory default setting, adjustment is made so that the analog output voltage becomes 10V when accumulated pulse amount is the default value. Adjust a gain value according to the rated speed command voltage of the drive unit used. The gain value can be adjusted within the range of 5 to 10V. When changing the accumulated pulse amount at the gain value output from the default value, set the accumulated pulse amount by referring to the following reference values. Accumulated pulse amount (unit: pulse) Accumulated Reference value for the setting Default pulse setting Setting range When the gain value When the gain value value is 5V is 10V Initial setting The initial setting is same as the case where [Selection 4] is set. [Selection 1] to to to to to 3700 [Selection 2] to to to to to 7400 [Selection 3] to to to to to [Selection 4] to to to to to [Selection 5] to to to to to [Selection 6] to to to to to [Selection 7] to to to to to [Selection 8] to to to to to Excessive error (unit: pulse) or less 3701 or more or less 7401 or more or less or more or less or more or less or more or less or more or less or more or less or more 4.5 Zero/gain Adjustment 59

62 When setting a smaller value than the above reference value (larger value for a negative value) as the accumulated pulse amount at the gain value output, making the setting value too small at a time may cause the hunting of a servomotor. To make the accumulated pulse amount value smaller, check the machine operation and adjust the value. To change "Accumulated pulse setting" after the gain adjustment execution where the accumulated pulse amount at the gain value output has been changed from the default value, execute the gain adjustment again. Gain adjustment can be performed in the following two methods. Adjusting with the default accumulated pulse amount Adjusting with specified accumulated pulse amount (a) Adjusting gain with the default accumulated pulse amount Follow the procedure below. 1 Change the operation mode to the zero/gain adjustment mode. 2 Set "Accumulated pulse setting" in the switch setting according to the necessary accumulated pulse amount. 3 Adjust the voltage to be the necessary voltage value between the check pins. (b) Adjusting gain with specified accumulated pulse amount Follow the procedure below. 1 Change the operation mode to the zero/gain adjustment mode. 2 Set "Accumulated pulse setting" in the switch setting according to the necessary accumulated pulse amount. (Do not specify amount that exceeds the setting range.) Write the accumulated pulse amount using a sequence program. [When one of the selections 1 to 4 is specified in "Accumulated pulse setting"] Set the specified accumulated pulse amount in " Cd.5 Analog output adjustment area 1". Accumulated pulse amount write command <Write the accumulated pulse amount as > 3 [When one of the selections 5 to 8 is specified in "Accumulated pulse setting"] Set the specified accumulated pulse amount in " Cd.9 Analog output adjustment area 2". Accumulated pulse amount write command <Write the accumulated pulse amount as > 4 Adjust the voltage to be the necessary voltage value between the check pins. (3) Zero/gain adjustment setting range When performing zero/gain adjustment, satisfy the following two conditions. Setting range: -10 to 10V The difference between a gain value and zero value is as follows. In case of positive accumulated pulse amount (Gain value) - (Zero value) 5.0V In case of negative accumulated pulse amount (Gain value) - (Zero value) -5.0V 60

63 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI (4) Setting method The following are the procedures for zero adjustment and gain adjustment. (a) When using the switches on the front of the QD73A1 Start Set the servomotor in the servo-lock status. Turn on both DIP switch 1 and 2 on the lower part of the module, then turn on the power. *1 Check that the module is in the zero/gain adjustment mode on the RUN LED. (The LED flashes in the zero/gain adjustment mode.) Gain adjustment Specify gain adjustment by changing the SELECT/SET switch to SELECT, while checking the GAIN LED. (Zero/gain adjustment switches every time when the switch is set to SELECT.) Gain adjustment Is the ERR.LED off? *3 YES ZERO NO 4 Configure "Accumulated pulse setting" in the switch setting, and write it to the CPU module. GAIN 1 Turn off then on the power, or reset the CPU module. Zero adjustment Adjust the voltage to be the gain value between check pins using the UP/DOWN switch. (Holding the switch increases the adjustment amount.) Specify zero adjustment by changing the SELECT/SET switch to SELECT, while checking the ZERO LED. (Zero/gain adjustment switches every time when the switch is set to SELECT.) Zero adjustment ZERO GAIN Set the SELECT/SET switch to the SET side and check that the BUSY LED turns on. After the BUSY LED turned off, set the SELECT/SET switch back to the center. *2 Is the ERR.LED off? *3 NO 4.5 Zero/gain Adjustment YES Adjust the voltage to be 0V between check pins using the UP/DOWN switch. (Holding the switch increases the adjustment amount.) Turn off the power, then turn off both DIP switch 1 and 2 on the lower part of the module. Set the SELECT/SET switch to the SET side and check that the BUSY LED turns on. After the BUSY LED turned off, set the SELECT/SET switch back to the center. *2 End 1 *1 The operation mode cannot be switched to the zero/gain adjustment mode if the power is turned on ahead of turning on DIP switch 1 and 2. *2 The zero adjustment value and gain adjustment value are recorded in the flash ROM inside the QD73A1 by setting the SELECT/SET switch on the SET side, and they are not erased even at a power-off. *3 If an error occurs in the zero/gain adjustment mode, the ERR. LED turns on. If the ERR. LED is on, turn on Error reset signal (Y28) then perform zero/gain adjustment again. 61

64 (b) When using I/O signals and the buffer memory Start Set the servomotor in the servo-lock status. Write the adjustment amount of the voltage between check pins to " Cd.11 Zero/gain adjustment value specification". Write the adjustment amount of the voltage between check pins to " Cd.11 Zero/gain adjustment value specification". 1 Turn on the power. Turn on Set value change request signal (Y1C). Turn on Set value change request signal (Y1C). Configure the following items in the switch setting, and write them to the CPU module. "Accumulated pulse setting": Set accumulated pulse amount. "Zero/gain adjustment mode/normal mode setting": Select "Zero/gain adjustment mode" Check that Set value change complete flag (X2C) turned on following the change of voltage between check pins. Then, turn off Set value change request signal (Y1C). (Check that Set value change complete flag (X2C) is off after turning off Set value change request signal (Y1C).) Check that Set value change complete flag (X2C) turned on following the change of voltage between check pins. Then, turn off Set value change request signal (Y1C). (Check that Set value change complete flag (X2C) is off after turning off Set value change request signal (Y1C).) Turn off then on the power, or reset the CPU module. Check that " Md.9 Zero/gain execution status" is "2: In the zero/gain adjustment mode (switch setting)". Zero adjustment Set " Cd.10 Zero/gain adjustment specification to "1: Zero adjustment". Gain adjustment Is the voltage between check pins 0V? YES Set " Cd.10 Zero/gain adjustment specification to "2: Gain adjustment". NO Is the voltage between check pins equal to the gain value? YES Turn on Zero/gain adjustment data writing request signal (Y1A). *1 NO Turn on Zero/gain adjustment change request signal (Y1B). Turn on Zero/gain adjustment change request signal (Y1B). Check that Zero/gain adjustment data writing complete flag (X2A) is on. Check that Zero/gain adjustment change complete flag (X2B) is on. Check that Zero/gain adjustment change complete flag (X2B) is on. Turn off Zero/gain adjustment data writing request signal (Y1A). Turn off Zero/gain adjustment change request signal (Y1B). Turn off Zero/gain adjustment change request signal (Y1B). Check that Zero/gain adjustment data writing complete flag (X2A) is off. Check that Zero/gain adjustment change complete flag (X2B) is off. Check that Zero/gain adjustment change complete flag (X2B) is off. Is the ERR.LED off? *2 NO YES 1 Check that " Md.10 Zero/gain adjustment status" is "1: Adjusting zero". Check that " Md.10 Zero/gain adjustment status" is "2: Adjusting gain". Change "Zero/gain adjustment mode/ Normal mode setting" to Normal mode" in the switch setting. End *1 The zero adjustment value and gain adjustment value are recorded in the flash ROM inside the QD73A1 by turning on Zero/gain adjustment data writing request signal (Y1A), and they are not erased even at a power-off. *2 If an error occurs in the zero/gain adjustment mode, the ERR. LED turns on. If the ERR. LED is on, turn on Error reset signal (Y28) then perform zero/gain adjustment again. 62

65 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI (5) Restoring the zero/gain adjustment value of the factory default Writing "1" in " Cd.12 Factory default zero/gain adjustment value restoration request" restores the zero/gain adjustment value of the factory default. Once the restoration was completed, the QD73A1 sets "0" in " Cd.12 Factory default zero/gain adjustment value restoration request". Once the restoration was completed, analog output voltage becomes 0V and the QD73A1 sets "1: Adjusting zero" in " Md.10 Zero/gain adjustment status". Note that " Cd.12 adjustment mode. Factory default zero/gain adjustment value restoration request" is usable only in the zero/gain 4 Cd.12 Setting item Setting range Default value Execution condition Factory default zero/gain 1: Restore the The module must be in adjustment value restoration zero/gain adjustment 0 the zero/gain adjustment request value mode. Buffer memory address (decimal) 96 Zero value and gain value of the factory default are set as below. Zero value: 0V Gain value: 10V Note that the values above were set when "Accumulated pulse setting" was the default value ( to 14800pulse). 4.5 Zero/gain Adjustment 63

66 4.6 Wiring This section describes precautions on wiring the QD73A1 and external devices, and connection of external device connectors Wiring precautions This section describes the precautions on wiring. Check the terminal layout beforehand to wire cables to the module correctly. Connectors for external devices must be crimped or pressed with the tool specified by the manufacturer, or must be correctly soldered. Incomplete soldering or crimping may result in malfunction. Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a fire, failure, or malfunction. A protective film is attached to the top of the module to prevent foreign matter, such as wire chips, from entering the module during wiring. Do not remove the film during wiring. Remove it for heat dissipation before system operation. Connect the external device connectors to the connectors on the module and tighten the screws securely. Tighten the connector screws within the specified torque range. Undertightening can cause short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction. Screw Tightening torque range Connector screw (M2.6 screw) 0.20 to 0.29N m When disconnecting a cable from the module or the drive unit, do not pull the cable by the cable part. Disconnect the cable holding the connector. Pulling a cable connected to the module or the drive unit can cause malfunction. Such action can also damage the module, drive unit, or cable. Do not install the connection cables for external I/O signals and for the drive unit together with the main circuit lines, power cables, or load circuit lines of a device other than the programmable controller. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise, surges, and induction. Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled, resulting in damage to the module, drive unit, or cables, or malfunction due to poor contact. 64

67 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI As a measure against noise, use shielded cables if the cables connected to the module are close (less than 100mm) to a power cable. Ground the shields of shielded cables to the control panel securely on the module side. To comply with EMC and Low Voltage Directives, ground shielded cables to the control panel using the AD75CK cable clamp (manufactured by Mitsubishi Electric). (Ground the shield parts at a point within 20 to 30cm from the module.) Inside the control panel QD73A1 4 AD75CK 20 to 30cm For details on the AD75CK, refer to the following. AD75CK-type Cable Clamping Instruction Manual The length of the cable between the module and the drive unit is 1 to 3m generally. The length depends on the specifications of the drive unit. Review the specifications of the drive unit to be used. The length of the cable between the module and the encoder is as listed below generally. The length depends on the specifications of the encoder. Review the specifications of the encoder to be used. Use shielded twisted pair cable for the connection with the encoder. Encoder output type Cable length Differential output type MAX. 30m TTL type, open collector type MAX. 3m Connect the module and Servo signal of the drive unit without fail. In addition, do not turn on/off Servo signal externally. If Servo signal is not connected, the motor may rotate even in case of a CPU error. 4.6 Wiring Wiring precautions 65

68 4.6.2 Precautions when connecting an encoder This section describes precautions when connecting an encoder. (1) Operation of the QD73A1 (deviation counter and feedback pulses) The deviation counter in the QD73A1 counts up and down. An addition/subtraction switchover can be processed through the phases of feedback pulses. When "0: Positive voltage is output when the positioning address increases." is set for "Rotation direction setting" in the switch setting. When feedback pulses are input with the phase A leading the phase B by 90, the number of command pulses is subtracted. This input method is for counting positive command pulses when the speed command is positive voltage (when the motor is rotating forward). When feedback pulses are input with the phase B leading the phase A by 90, the number of command pulses is added. This input method is for counting negative command pulses when the speed command is negative voltage (when the motor is rotating reverse). Phase A Phase B Phase A Phase B If the sequence of the phase A and phase B is reversed, the number of command pulses and feedback pulses are counted together. This can cause an excessive error of accumulated pulses, resulting in the stop of the control. (a) Switch setting and the encoder When "1: Negative voltage is output when the positioning address increases." is set for "Rotation direction setting" in the switch setting, the count process (positive or negative) of the feedback pulses varies depending on "Feed back pulse addition/subtraction setting" of the switch setting as shown below. Switch setting Feedback pulse "Rotation direction setting" "Feed back pulse addition/subtraction setting" When the phase A proceeds 90 degrees than phase B When the phase B proceeds 90 degrees than phase A 0: Positive voltage is output when the positioning address increases. - Subtraction Addition 1: Negative voltage is output when the positioning address increases. 0: Add when the phase A proceeds 90 degrees than phase B. 1: Subtract when the phase A proceeds 90 degrees than phase B. Addition Subtraction Subtraction Addition Command pulse DIR Rotation direction setting When 0 is set: DIR = 1 When 1 is set: DIR = -1 + Deviation counter +/- Feedback pulse addition/ subtraction setting Multiplication setting D/A converter Rotation direction setting 0 1 Analog voltage Feedback pulse addition /subtraction setting When the phase A proceeds 90 degrees than phase B Feedback pulse When the phase B proceeds 90 degrees than phase A - (subtraction) + (addition) + (addition) - (subtraction) - (subtraction) + (addition) Feedback pulse 66

69 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI For details on "Rotation direction setting" in the switch setting, refer to the following. Page 101, Section The connection between the QD73A1 and the encoder varies depending on "Rotation direction setting" and "Feed back pulse addition/subtraction setting" of the switch setting. Ex. When the rotation directions of the motor and encoder are as below and the motor rotates forward when positive voltage is applied to the servo amplifier Suppose the condition of the feedback pulses from the 4 Forward run Reverse run Forward run Reverse run encoder as: the phase A is ahead of the phase B by 90 in case of forward run. Servomotor Encoder Switch setting Rotation direction Feed back pulse setting addition/subtraction setting Connection 0: Positive voltage is output when the positioning address increases. 1: Negative voltage is output when the positioning address increases. - 0: Add when the phase A proceeds 90 degrees than phase B. 1: Subtract when the phase A proceeds 90 degrees than phase B. Phase A Phase B QD73A1 Phase A Phase B QD73A1 Phase A Phase B QD73A1 Phase A Phase B QD73A1 Phase A Phase B QD73A1 Phase A Phase B QD73A1 Phase A Phase B Encoder Phase A Phase B Encoder Phase A Phase B Encoder Phase A Phase B Encoder Phase A Phase B Encoder Phase A Phase B Encoder When the rotation directions of the motor and the encoder are the same When the rotation directions of the motor and the encoder are different When the rotation directions of the motor and the encoder are the same When the rotation directions of the motor and the encoder are different When the rotation directions of the motor and the encoder are the same When the rotation directions of the motor and the encoder are different 4.6 Wiring Precautions when connecting an encoder 67

70 If the connection of the QD73A1 and the encoder is incorrect, the motor rotates at a power-on and Excessive error signal (X17) turns on. To replace the positioning module AD70/A1SD70 with the QD73A1 while using the same equipment of the servo amplifier, encoder, and external wiring in the existing system, check the setting of slide switch 1 (rotation direction setting) of the AD70/A1SD70. If the slide switch 1 (rotation direction setting) is off ("Negative voltage is output when the positioning address increases" is set), set "1: Subtract when the phase A proceeds 90 degrees than phase B." for "Feed back pulse addition/subtraction setting" in the switch setting of the QD73A1. (2) Connection between the QD73A1 and each type of encoder The following table shows the connection between the QD73A1 and each type of encoder. Set the output type of the encoder to be used in "Encoder I/F setting" of the switch setting. For details on "Encoder I/F setting" in the switch setting, refer to the following. Page 100, Section 6.2 Encoder output type "Encoder I/F setting" Connection Open collector output type Open collector output Encoder Phase A: Pin 13 Phase B: Pin 5 Phase Z: Pin 6 QD73A1 Phase A: Pin 11 Phase B: Pin 10 Phase Z: Pin 7 TTL output type TTL output Encoder Phase A: Pin 13 Phase B: Pin 5 Phase Z: Pin 6 QD73A1 Phase A: Pin 11 Phase B: Pin 10 Phase Z: Pin 7 Differential output type Differential output Encoder Phase A: Pin 13 Phase B: Pin 5 Phase Z: Pin 6 QD73A1 SN75113 Phase A: Pin 11 Phase B: Pin 10 Phase Z: Pin 7 68

71 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI External device connectors This section describes the assemblage of an external device connector and its connection method. (1) Assembling a connector The following connectors are required to connect the QD73A1 and external devices. A 9-pin connector (pin type): For the CT. connector (control signal connection) A 15-pin connector (pin type): For the SERVO connector (drive unit connection) The connectors are composed of the following parts. Protective tube (For a 15-pin connector only) 4 Screw B Protective seal Cover A Cover B Wire clamp Screw A Connection part Nut Screw C Assemble the connectors as follows. 1. Thread wires through the protection tube (for the 15- pin connector only). Connection part Wrap the wires with a protective seal. 2. Solder the wires to the connection part. 3. Attach the connection part to cover A, and wrap the protective seal around the part of the wires which contacts the wire clamp. 4.6 Wiring External device connectors Cover A 4. Slide the protection tube over the protective seal (for the 15-pin connector only). (To the next page) 69

72 (From the previous page) Wire clamp Screw A 5. Fix the protective seal part or the protection tube part with the wire clamp using the screws A. Screw A Screw C 6. Attach the screws C to the cover A. Screw C Screw B 7. Put the cover B over the cover A, and fasten them using the screws B and nuts. End 70

73 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATI (2) Wiring connectors The figure below shows the pin arrangement on the connectors. Wire pins correctly according to the signal assigned to each pin number. For details on the signal assigned to each pin number, refer to the following. Page 43, Section Pin arrangement viewed from the wire side pin connector Applies to the SERVO. connector 9-pin connector Applies to the CT. connector (a) Applicable wire size The applicable wire size is 0.3mm 2 or less. If thicker wires are used, the wire clamp cannot be attached. (b) Connection between the connectors and wires Solder the wires to the pins. Strip parts of wire jackets properly to avoid a short circuit due to wire chips or solder chips. If the signal line is exposed, malfunction may occur due to static electricity. Cover and protect the connector pins with heat shrinkable insulation tubes. Soldering Wire 4.6 Wiring External device connectors 71

74 (c) Connector type and the manufacturer The following table lists applicable 9-pin connector and 15-pin connector. When wiring, use applicable wire and an appropriate tightening torque. 9-pin connector for external wiring (pin type) 15-pin connector for external wiring (pin type) External wiring connector Wire Model Tightening torque Diameter Type Material Temperature rating 17JE (D8A) (manufactured by DDK Ltd.) 28 to 0.20 to 0.29N m Stranded Copper 75 C or more 24AWG 17JE (D8A) (manufactured by DDK Ltd.) To contact the manufacturer regarding the connectors, refer to the following. 72

75 CHAPTER 5 DATA USED FOR POSITIING CHAPTER 5 DATA USED FOR POSITIING This chapter describes parameters and data used for positioning. 5.1 Types of Data The parameters and data required to carry out control with the QD73A1 include "setting data", "monitor data", and "control data" shown below. Setting data (Data to be set beforehand according to the machinery and application) 5 Parameters ( Pr.1 to Pr.13 ) Positioning parameters ( Pr.1 to Pr.9 ) Fixed parameters Note Set parameters that are fixed beforehand depending on the mechanical system. If a setting of fixed parameters is outside the setting range, default values will be set to all of the fixed parameters for the control. Set parameters that vary depending on Variable parameters each positioning control. If a setting of variable parameters is outside the setting range, Note a default value will be set to only the corresponding parameter for the control. OPR parameters ( Pr.10 to Pr.13 ) OPR parameters Set data for OPR. Positioning data ( Da.1 to Da.5 ) The data can be set using GX Works2. Positioning data Set start data for major positioning control. Default values are determined for setting data parameters, and are set as the factory default. Keep the unused parameters to the default. Fixed parameters and OPR parameters are activated when PLC READY signal (Y2D) is turned on. Variable parameters and positioning data can be changed even when PLC READY signal (Y2D) is on. Although, the change that is made during operation is not reflected since the data set at the start of major positioning control or JOG operation are valid. The change will be reflected at the next start. 5.1 Types of Data Monitor data (Data that indicates the control status. The data can be monitored when necessary.) Monitoring area Monitor data such as a current position, error codes, and error history. ( Md.1 to Md.22 ) 73

76 Control data (Data for the user to control the positioning system) Set data for operation and data for current value Control change area change or speed change during operation. ( Cd.1 to Cd.4, Cd.6 to Cd.8, Cd.13 to Cd.20 ) Zero/gain adjustment data area Set data for zero/gain adjustment. ( Cd.5, Cd.9 to Cd.12 ) Set control data using sequence programs. 74

77 CHAPTER 5 DATA USED FOR POSITIING 5.2 Positioning Parameters This section describes the details of positioning parameters. Fixed parameter Variable parameter Item Setting range Default value Buffer memory address (decimal) Reference 0 Stroke limit upper limit pulse Page 76, to 1 Section pulse 2 Stroke limit lower limit 0pulse 5.2 (1) 3 Numerator of command pulse 4 multiplication for 1 to 9999 Page 77, electronic gear (CMX) (Satisfy the following condition. 1 Section Denominator of 1/50 CMX/CDV 50) 5.2 (2) command pulse 5 multiplication for electronic gear (CDV) Speed limit value Page 77, 10 to pulse/s pulse/s Section (Set in the unit of 10pulse/s.) (3) Acceleration time 22 Page 78, 2 to 9999ms 300ms Section Deceleration time (4) Page 78, In-position range 1 to 20479pulse 5pulse 24 Section 5.2 (5) Positioning mode 0: Position control mode Page 78, 0: Position control 1: Speed-position control switch 25 Section mode mode 5.2 (6) Pr.1 Pr.2 Pr.3 Pr.4 Pr.5 Pr.6 Pr.7 Pr.8 Pr.9 The set data of fixed parameters are activated when PLC READY signal (Y2D) is turned on, and the error check is executed at the same time. Variable parameters can be set any time, but the error check is executed when a start signal is turned on Positioning Parameters 75

78 (1) Pr.1 Stroke limit upper limit, Pr.2 Stroke limit lower limit Set the upper and lower limits of the workpiece moving range. Stroke limit lower limit Stroke limit upper limit Limit switch for emergency stop OP (Moving range of the workpiece) Limit switch for emergency stop For details on the stroke limit function, refer to the following. Page 213, Section 11.3 Remark In general, the OP is set at the lower limit or upper limit of the stroke limit. Setting the upper and lower limits of the stroke limit prevents the workpiece to overrun the set range; although, in addition, place emergency stop limit switches (upper limit switch (FLS)/lower limit switch (RLS)) outside and near the stroke limit range. The stroke limits are not checked during speed control. To disable the stroke limit function, set the same value to " Pr.1 Stroke limit upper limit" and " Pr.2 Stroke limit lower limit". 76

79 CHAPTER 5 DATA USED FOR POSITIING (2) Pr.3 Numerator of command pulse multiplication for electronic gear, Pr.4 Denominator of command pulse multiplication for electronic gear Set the numerator (CMX) and denominator (CDV) of command pulse multiplication for electronic gear. QD73A1 Drive unit Setting data Electronic gear Deviation counter D/A converter Speed command Servo amplifier Number of command pulses Command pulse CMX CDV Accumulated pulses Multiplication For details on the electronic gear function, refer to the following. Analog voltage feedback pulse 5 Page 209, Section 11.1 Remark Machine movement amount per one command pulse can be changed using the command pulse multiplication setting. Electronic gear is active on all of OPR control, major positioning control, and JOG operation. The module operates with the positioning speed and movement amount that are multiplied by the set value for electronic gear. Satisfy the following condition when setting electronic gear. Positioning speed Electronic gear 4Mpulse/s When the positioning speed value that is multiplied by the set value of electronic gear exceeds " Pr.5 Speed limit value", the limit value is ignored. On the other hand, if the speed exceeds 4Mpulse/s, the error "Outside the command frequency range" (error code: 104) occurs. In this case, the speed is 4Mpulse/s, resulting in a positioning error. When there are decimal pulses, the fractions are maintained inside and accumulated for the next command. If positioning is continued after the CPU module was reset, a positioning error by the fractions of pulses occurs due to electronic gear (when CMX/CDV 1). In that case, execute OPR. (3) Pr.5 Speed limit value Set the upper limit speed of major positioning control or JOG operation. If command speed that is faster than this limit is specified, the speed is limited to this value. 5.2 Positioning Parameters Remark If speed for OPR control is set to the one faster than " Pr.5 Speed limit value", the error "OPR speed Outside the setting range" (error code: 20) occurs at the start of OPR. Positioning speed must be limited properly depending on the device and control subject. Set a value in a unit of 10 pulses. If a single digit is set, the value is rounded off. 77

80 (4) Pr.6 Acceleration time, Pr.7 Deceleration time Pr.6 Acceleration time: Set the time takes for speed (0) to reach the value in " Pr.5 Speed limit value". Pr.7 Deceleration time: Set the time takes for the speed (the value in " Pr.5 Speed limit value") to reach 0. v Pr.5 Speed limit value Positioning speed t Pr.6 Actual acceleration time Acceleration time Pr.7 Actual deceleration time Deceleration time Remark The parameters are active for OPR control, major positioning control, and JOG operation. When the set positioning speed is lower than the value in " time is shorter than the set value of the parameters. Pr.5 Speed limit value", the actual acceleration/deceleration (5) Pr.8 In-position range Set the accumulated pulse amount where In-position signal (X16) turns on. In-position signal (X16) can be used as the signal right before Positioning complete signal (X15). For details on the in-position function, refer to the following. Page 221, Section 11.8 (6) Pr.9 Positioning mode Select a control mode of major positioning from the position control mode or the speed-position control switch mode. If a value other than 0 and 1 is set, the error "Positioning mode Outside the setting range" (error code: 14) occurs. Although, the QD73A1 checks the setting range only for the start by Forward start signal (Y22) or Reverse start signal (Y23). For the start by the following signals, the above error does not occur even if the set value is outside the setting range. OPR start signal (Y20) Absolute positioning start signal (Y21) Forward JOG start signal (Y24) Reverse JOG start signal (Y25) 78

81 CHAPTER 5 DATA USED FOR POSITIING 5.3 OPR Parameters This section describes the details of OPR parameters. Buffer memory Item Setting range Default value address (decimal) Reference Pr.10 OP address to pulse 0pulse Page 79, Section 5.3 (1) Pr.11 OPR speed 1 to pulse/s 10000pulse/s Page 79, Section 5.3 (2) Pr.12 Pr.13 Creep speed 1 to pulse/s 1000pulse/s Setting for the movement 46 amount after near-point dog 0 to pulse 75pulse 47 Page 80, Section 5.3 (3) Page 81, Section 5.3 (4) 5 The set data of OPR parameters are activated when PLC READY signal (Y2D) is turned on, and the error check is executed when OPR start signal (Y20) is turned on. For details on OPR control, refer to the following. Page 178, CHAPTER 8 (1) Pr.10 OP address Set the address that is the reference point of major positioning control. Upon completion of OPR, the set value is stored in the current value monitor (" " Md.2 Actual current value"). (2) Pr.11 OPR speed Set the speed of OPR control. Md.1 Current feed value" and 5.3 OPR Parameters Satisfy the following condition when setting the speed. Creep speed OPR speed Speed limit value Pr.12 Pr.11 Pr.5 If the OPR speed exceeds " Pr.5 code: 20) occurs, and the OPR is not executed. Speed limit value", the error "OPR speed Outside the setting range" (error 79

82 (3) Pr.12 Creep speed Once the near-point dog turns on, the control decelerates from " right before the stop, which is a creep speed. Pr.11 OPR speed" and stops. Set the speed of v Pr.11 OPR speed OPR start Pr.12 Creep speed Near-point dog signal (DOG) t Zero signal Satisfy the following condition when setting the speed. Creep speed OPR speed Speed limit value Pr.12 Pr.11 Pr.5 If the creep speed exceeds " Pr.11 21) occurs, and the OPR is not executed. OPR speed", the error "Creep speed Outside the setting range" (error code: 80

83 CHAPTER 5 DATA USED FOR POSITIING (4) Pr.13 Setting for the movement amount after near-point dog When the OPR method is the count method, set the movement amount from the position where Near-point dog signal (X1C) turns on to the original point. Set a value equal to or greater than the deceleration distance from the OPR speed to the creep speed. Deceleration distance (pulse) The following are the setting precautions. Set pulse amount so that the position moved from the near-point dog does not overlap with Zero signal. Calculate deceleration distance without the use of electronic gear. The following is a setting example. Ex. = (OPR speed + Creep speed) (pulse/s) 1000 When parameters are set as follows. Pr.11 OPR speed: 10kpulse/s (default value) Actual deceleration time (ms) 2 5 Pr.12 Creep speed: 1kpulse/s (default value) Pr.7 Deceleration time: 300ms (default value) Deceleration distance = = VZ + Vc 1000 VZ + Vc 1000 t TB(VZ - Vc) Vp VP Speed limit value 200kpulse/s VZ OPR speed 10kpulse/s = (10k + 1k) 300(10k - 1k) k = = 75 (rounded up to the nearest integer) a VC Creep speed 1kpulse/s b Actual deceleration time t=a-b 5.3 OPR Parameters TB Deceleration time 300ms When the position where the near-point dog turns on is set near the center of Zero signals, " Pr.13 Setting for the movement amount after near-point dog " should be an integral multiple of pulses per one servomotor rotation. Then the position moved after the near-point dog does not overlap with Zero signal. For instance, when the number of pulses per one servomotor rotation is 2000, set 2000 pulses. 81

84 5.4 Positioning Data This section describes the details of positioning data. Da.1 Da.2 Da.3 Da.4 Da.5 Item Setting range Default value Positioning pattern 0: Positioning control 0: Positioning 1: Two-phase trapezoidal positioning control control Absolute system: Positioning address to pulse P1 Incremental system: 0pulse 0 to pulse Positioning speed V1 1 to pulse/s 0pulse/s Absolute system: Positioning address to pulse P2 Incremental system: 0pulse 0 to pulse Positioning speed V2 1 to pulse/s 0pulse/s Buffer memory address Reference (decimal) 301 Page 82, Section 5.4 (1) 302 Page 83, Section 5.4 (2) Page 84, Section 5.4 (3) Page 84, Section 5.4 (4) Page 84, Section 5.4 (5) Positioning data can be set any time, but the error check is executed when a positioning start signal (Y21 to Y23) is turned on. For details on positioning control, two-phase trapezoidal positioning control, and speed-position control switch mode, refer to the following. Page 185, CHAPTER 9 (1) Da.1 Positioning pattern Select a control pattern of major positioning from "positioning control" or "two-phase trapezoidal positioning control". When 0 is set in b0, positioning control is specified, and when 1 is set in b0, two-phase trapezoidal positioning control is specified. b15 to b1 b0 0: Positioning control 1: Two-phase trapezoidal positioning control Values in b1 to b15 are ignored. 82

85 CHAPTER 5 DATA USED FOR POSITIING (2) Da.2 Positioning address P1 Set the address that is the destination of major positioning control. The setting range depends on the type of major positioning control. If the specified positioning address is outside the stroke range, the error "Positioning address Outside the setting range" (error code: 30) occurs, and the positioning does not start. (a) Absolute system When the absolute system is selected, set an absolute address (movement amount from the OP). Stop position (positioning start address) Movement amount: 2000 Movement amount: 2000 To execute two-phase trapezoidal positioning control in the absolute system, the positioning direction from " Da.2 Positioning address P1" to " Da.4 Positioning address P2" and the positioning direction from the current value to " Da.2 Positioning address P1" must be the same. If not, the error "Two-phase trapezoidal positioning address error" (error code: 31) occurs, and the two-phase trapezoidal positioning control does not start. (b) Incremental system When the incremental system is selected, set movement amount from the current value. Stop position (positioning start address) (Movement amount) (Movement amount) Moving in negative direction Moving in positive direction 5.4 Positioning Data (c) Speed-position control switch mode Set movement amount of after the shift from speed control to position control. v Movement amount setting Speed control Position control t Speed-position switching command 83

86 (3) Da.3 Positioning speed V1 Set the command speed of major positioning control. Set a value equal to or less than " If the value exceeds " Pr.5 Speed limit value". Speed limit value", the error "Positioning speed Outside the setting range" (error code: 32) occurs, and the command speed is limited to " Speed limit value". If the specified positioning speed is 0, the error "Positioning speed Outside the setting range" (error code: 32) occurs, and the positioning does not start. Pr.5 Pr.5 (4) Da.4 Positioning address P2 This setting is enabled only for two-phase trapezoidal positioning control. Set the destination address of after the move to the address set to " For details on " Da.2 Page 83, Section 5.4 (2) Positioning address P1", refer to the following. Da.2 Positioning address P1". (5) Da.5 Positioning speed V2 This setting is enabled only for two-phase trapezoidal positioning control. Set the command speed to move to the address set to " Da.4 Positioning address P2". The setting condition is the same as that of " Da.3 Positioning speed V1". ( Page 84, Section 5.4 (3)) 84

87 CHAPTER 5 DATA USED FOR POSITIING 5.5 Monitor Data This section describes the details of monitor data. Md.1 Md.2 Md.3 Md.4 Md.5 Md.6 Item Description Default value Current feed value Actual current value Error code (ERR.1) Error code (ERR.2) Deviation counter value (address) Movement amount after near-point dog The current commanded position is stored. (different from the actual motor position during operation) The update cycle is 0.5ms. When OPR is completed, the value of " Pr.10 OP address" is stored. When the current value is changed with the current value change function, the changed value is stored. ( Page 217, Section 11.5) The actual servomotor movement amount calculated based on feedback pulses is stored as an actual current value (the number of feedback pulses). (Actual current value = Current feed value - Accumulated pulses in the deviation counter) The update cycle is 0.5ms. When a minor error occurs, the corresponding error code is stored. The latest error code is stored at all times. (When a new error occurs, the error code is overwritten.) When Error reset signal (Y28) is turned on, the error code is cleared to 0. For details on error codes, refer to the following. Page 250, Section 14.3 When a major error occurs, the corresponding error code is stored. The latest error code is stored at all times. (When a new error occurs, the error code is overwritten.) When Error reset signal (Y28) is turned on, the error code is cleared to 0. For details on error codes, refer to the following. Page 250, Section 14.3 The difference of the current feed value and actual current value is stored as a deviation counter value. The update cycle is 0.5ms. When OPR starts, "0" is stored. When OPR is completed, the movement amount from the near-point dog to the OPR completion is stored. (Movement amount: Movement amount to OPR completion using near-point dog as "0".) The stored value varies depending on feedback pulses input at the OPR as shown below. When the phase A proceeds 90 degrees than phase B: positive value When the phase B proceeds 90 degrees than phase A: negative value The count value is stored for both the near-point dog method and the count method. (Use the value as a reference value for OPR adjustment.) 0pulse 0pulse Buffer memory address (decimal) pulse 0pulse Monitor Data 85

88 Item Description Default value Buffer memory address (decimal) Md.7 Speed-position switching command The on/off status of Speed-position switching command signal (CHANGE) is stored. 0: Speed-position switching command input 1: Speed-position switching command input 0: Speedposition switching command input 110 The control mode under the speed-position control switch mode is Md.8 Control mode stored. 0: Position control 0: Position control 111 1: Speed control The execution status of the zero/gain adjustment mode is stored. 0: Not in the Md.9 Zero/gain execution status 0: Not in the zero/gain adjustment mode 1: In the zero/gain adjustment mode (DIP switch) zero/gain adjustment 112 2: In the zero/gain adjustment mode (switch setting) mode The status of zero/gain adjustment is stored. Md.10 Zero/gain adjustment status 0: No zero/gain adjustment 1: Adjusting zero 0: No zero/gain adjustment 113 2: Adjusting gain Md.11 Feedrate The command output speed of the operating workpiece is stored. (May be different from the actual motor speed during operation) The update cycle is 0.5ms. 0pulse/s An error code is stored. Md.12 Error code For details on error codes, refer to the following. 0 Page 250, Section 14.3 The time (year: month) of error detection is stored in BCD code. b15 to b8: Year b7 to b0: Month The data can be monitored in hexadecimal Md.13 Error occurrence (Year: Month) b15 b8 b7 b to 9 0 to 9 0 to 1 0 to H Monitor value Page 00 to 99 (Year) 01 to 12 (Month) 88, Section 5.5 (1) The time (day: hour) of error detection is stored in BCD code. b15 to b8: Day b7 to b0: Hour The data can be monitored in hexadecimal Md.14 Error occurrence (Day: Hour) b15 b8 b7 b to 3 0 to 9 0 to 2 0 to H Monitor value to 31 (Day) 00 to 23 (Hour) 86

89 CHAPTER 5 DATA USED FOR POSITIING Item Description Default value Buffer memory address (decimal) The time (minute: second) of error detection is stored in BCD code. b15 to b8: Minute b7 to b0: Second The data can be monitored in hexadecimal Md.15 Error occurrence (Minute: Second) b15 b8 b7 b to 5 0 to 9 0 to 5 0 to 9 Page 0000 H 88, Section 5.5 (1) Monitor value to 59 (Minute) 00 to 59 (Second) 5 The pointer No. for the next error record is stored. A value from 0 to Md.16 Error history pointer 15 is stored. Even when Error reset signal (Y28) is turned on, the data is not cleared to 0. Md.17 Maximum accumulated pulse value [When the accumulated pulse error detection function is being executed] The reference value that is kept in the flash ROM of the QD73A1 is 0 pulse displayed. [When the reference value is being measured] Md.18 Minimum accumulated pulse value The maximum/minimum accumulated pulse values are stored when the positioning is executed in the address increasing/decreasing direction. [In other cases] 0 pulse is stored. Md.19 Accumulated pulse error detection function status The status of the accumulated pulse error detection function is displayed. 0: Normal 1: Accumulated pulse error is being detected 2: Reference value is being measured 0: Normal Monitor Data The status of the reference value measurement is displayed. 0: Unmeasured 1: Measured Md.20 Reference value measurement flag Check that this area stores 1 before writing data in the flash ROM. This area becomes 0 at the following timing. 0: Unmeasured 205 When the module is started When " Cd.18 Accumulated pulse error detection request" is set to 1 and the error detection starts The difference of the values obtained from "Command pulse Md.21 Deviation counter value (pulse) CMX/CDV" and "Number of feedback pulses Multiplication" is stored as a deviation counter value. 0 pulse The update cycle is 0.5ms. When OPR starts, "0" is stored. When OPR is completed, the movement amount from the near-point Md.22 Movement amount after near-point dog (absolute value) dog to the OPR completion is stored as an absolute value. (Movement amount: Movement amount to OPR completion using near-point dog as "0".) The count value is stored for both the near-point dog method and the 0 pulse count method. (Use the value as a reference value for OPR adjustment.) 87

90 (1) Buffer memory areas for error occurrence data Md.16 Error history pointer 184 Stores the pointer number that is next to the one for the latest error history record. Pointer No. Error history Pointer No. 0 Md.12 Error code Md.13 Error occurrence (Year: Month) Md.14 Error occurrence (Day: Hour) Md.15 Error occurrence (Minute: Second) Item Buffer memory address A set of buffer memory data is organized as an error history record with a pointer number. Ex. Pointer No.0 = Buffer memory addresses 120 to 123 Pointer No.1 = Buffer memory addresses 124 to 127 Pointer No.2 = Buffer memory addresses 128 to Pointer No.15 = Buffer memory addresses 180 to 183 Error history records are stored from the pointer No.1 up to No.15. After 16 records are stored, the next record will be assigned the pointer No.0. (The new record replaces the older record.) 88

91 CHAPTER 5 DATA USED FOR POSITIING 5.6 Control Data This section describes the details of control data. Buffer Item Description Setting range Default value memory address (decimal) Set a new current feed value when changing the current value. Writing data in this area and setting "1" in Cd.1 New current value " Cd.7 Current value change request" changes the value in " value". Md.1 Current feed For details on the current value change function, refer to the following to pulse 0pulse Page 217, Section 11.5 Set a new speed value when changing speed. Cd.2 New speed value Writing data in this area and setting "1" in " Cd.8 Speed change request" executes the speed change. For details on the speed change function, refer to the following. 0 to " Pr.5 Speed limit value" (pulse/s) (Maximum pulse/s) 0pulse/s Page 218, Section 11.6 Set JOG speed for JOG operation. Cd.3 JOG speed If the value exceeds " Speed limit value", the error "JOG speed Outside the setting range" (error code: 41) occurs, and the speed is limited to " value". Pr.5 Pr.5 Speed limit If "0" is set in this area and JOG operation is attempted, the error "JOG speed Outside the setting range" (error code: 41) occurs, and the operation does not start. For details on JOG operation, refer to the following. 1 to pulse/s 0pulse/s Control Data Page 200, CHAPTER 10 89

92 Cd.4 Cd.5 Cd.6 Buffer Item Description Setting range Default memory value address Deviation counter clear command Analog output adjustment area 1 New speed-position movement amount (decimal) Use this area to clear the accumulated pulses in the deviation counter. Write "1" to clear the counter. If a value other than "1" is set, the command is ignored. After the deviation counter was cleared, "0" is stored automatically. To start positioning after the deviation counter was cleared, check that this area stores "0" and no error is detected before the start. When the deviation counter is cleared, 1: Clear the deviation counter " Md.2 Actual current value" changes to the 0 86 value in " Current feed value". Data cannot be written while BUSY signal (X14) is on. Check that BUSY signal (X14) is off before writing data. If data writing is attempted while BUSY signal (X14) is on, the error "Deviation counter clear error" (error code: 114) occurs. For details on the deviation counter clear function, refer to the following. Page 220, Section 11.7 Set pulse amount to adjust gain with specific accumulated pulse amount. This setting is enabled only in the zero/gain adjustment mode. Use this area when the default value or one of the selections 1 to 4 is set in "Accumulated pulse setting" in the switch setting. (When one of the selections 5 to 8 is set, use " area 2".) Md.1 Cd.9 Analog output adjustment Selection 2 If the setting is outside the setting range, the error "Analog output adjustment area 1 Outside the setting range" (error code: 125) occurs. For details on zero/gain adjustment, refer to the following. Page 59, Section 4.5 Set this area to change movement amount of after a switchover to position control in the speed-position control switch mode. The set value is reflected at the input of Speed-position switching command signal (CHANGE). The setting is cleared to 0 when the next operation starts. For details on the Speed-position control switch mode, refer to the following. Page 195, Section Depends on "Accumulated pulse setting" in the switch setting. Accumulated pulse setting Selection 1 Selection 3 Default value or selection 4 Setting range (Unit: pulse) to to to to to pulse 0pulse 89 90

93 CHAPTER 5 DATA USED FOR POSITIING Cd.7 Cd.8 Cd.9 Buffer Item Description Setting range Default memory value address (decimal) Use this area to request a current value change. Current value change request Speed change request Analog output adjustment area 2 After setting " New current value", set "1" in this area. If a value other than "1" is set, the setting is ignored. After the current value change was accepted, "0" is stored automatically. A current value change cannot be requested while BUSY signal (X14) is on. Check that BUSY signal (X14) is off before requesting a current value change. If a current value change is requested while BUSY signal (X14) is on, the error "Current value change error" (error code: 110) occurs. For details on the current value change function, refer to the following. Page 217, Section : Change the current value 0 90 Use this area to request a speed change. After setting " Cd.1 Cd.2 New speed value", set "1" in this area. If a value other than "1" is set, the setting is ignored. After the speed change was accepted, "0" is stored automatically. If a speed change is requested with " Cd.2 New speed value" exceeding 1: Change speed 0 91 " Pr.5 Speed limit value", the error "New speed value Outside the setting range" (error code: 40) occurs, and the speed after the change is limited to " value". Pr.5 Speed limit For details on the speed change function, refer to the following. Page 218, Section 11.6 Set pulse amount to adjust gain with Depends on "Accumulated specific accumulated pulse amount. pulse setting" in the switch This setting is enabled only in the zero/gain setting. adjustment mode. Setting Use this area when one of the selections 5 Accumulated range (Unit: pulse setting to 8 is set in "Accumulated pulse setting" in pulse) the switch setting. (When one of the to Selection 5 selections 1 to 4 is set, use " Cd.5 Analog output adjustment area 1".) to If the setting is outside the setting range, the Selection error "Analog output adjustment area to Outside the setting range" (error code: 126) Selection occurs. For details on zero/gain adjustment, refer to to Selection 8 the following Page 59, Section Control Data 91

94 Cd.10 Item Description Setting range Specify "zero adjustment" or "gain adjustment". When zero/gain adjustment is performed using switches on the front of the QD73A1, the set value is ignored. Zero/gain adjustment 1: Zero adjustment If a value other than 0, 1, and 2 is set, the specification 2: Gain adjustment error "Zero/gain adjustment setting error" (error code: 123) occurs. For details on zero/gain adjustment, refer to the following. Page 59, Section 4.5 Use this area to set adjustment amount of the analog output value during zero/gain adjustment. The analog output value changes by the adjustment amount when Set value change request signal (Y1C) is turned on and off. Buffer Default memory value address (decimal) 0 94 Ex. When 1000 is set, the analog output Cd.11 Zero/gain adjustment value specification value can be adjusted by approximately 0.33V. When zero/gain adjustment is performed using switches on the front of the QD73A1, the set value is ignored. If the setting is outside the setting range, the error "Zero/gain adjustment value error" (error code: 124) occurs. For details on zero/gain adjustment, refer to the following to Page 59, Section 4.5 Use this area to restore the zero adjustment value and gain adjustment value to the Cd.12 Factory default zero/gain adjustment value restoration request factory default. This setting is enabled only in the zero/gain adjustment mode. If a value other than "1" is set, the setting is ignored. After the zero/gain adjustment value was restored, "0" is stored automatically. 1: Restore the zero/gain adjustment value

95 CHAPTER 5 DATA USED FOR POSITIING Item Description Setting range The difference between the reference value (maximum value) and the judgment value (alert output accumulated pulses (maximum value)) is set. The relation between this setting and the judgment value is as follows. Default value Buffer memory address (decimal) [If " Cd.17 Accumulated pulse setting value selection" is set to 0] If " Cd.17 Accumulated Cd.13 Alert output accumulated pulse setting value (maximum value) Alert output accumulated pulses (maximum value) = reference value (maximum value) + Cd.13 Alert output accumulated pulse setting value (maximum value) [If " Cd.17 Accumulated pulse setting value selection" is set to 1] Alert output accumulated pulses (maximum value) = reference value (maximum value) + pulse setting value selection" is set to 0: 1 to pulse If " Cd.17 Accumulated pulse setting value selection" is set to 1: 1000 to ( 10-3 : Last three digits are the value after the decimal point.) ( Cd.13 Alert output accumulated pulse setting value (maximum value) ) reference value (maximum value) 1000 For details on the accumulated pulse error detection function, refer to the following. Page 223, Section Control Data 93

96 Item Description Setting range The difference between the reference value (maximum value) and the judgment value (immediate stop accumulated pulses (maximum value)) is set. The relation between this setting and the judgment value is as follows. Default value Buffer memory address (decimal) [If " Cd.17 Accumulated pulse setting value selection" is set to 0] Cd.14 Immediate stop accumulated pulse setting value (maximum value) Immediate stop accumulated pulses (maximum value) = reference value (maximum value) + Immediate stop accumulated pulse setting value (maximum value) [If " Cd.17 Cd.14 Accumulated pulse setting value selection" is set to 1] Immediate stop accumulated pulses (maximum value) = reference value If " Accumulated pulse setting value selection" is set to 0: 1 to pulse If " Cd.17 Cd.17 Accumulated pulse setting value selection" is set to 1: 1000 to ( 10-3 : Last three digits are the value after the decimal point.) (maximum value) + ( Cd.14 Immediate stop accumulated pulse setting value (maximum value) ) reference value (maximum value) 1000 For details on the accumulated pulse error detection function, refer to the following. Page 223, Section

97 CHAPTER 5 DATA USED FOR POSITIING Item Description Setting range The difference between the reference value (minimum value) and the judgment value (alert output accumulated pulses (minimum value)) is set. The relation between this setting and the judgment value is as follows. Default value Buffer memory address (decimal) [If " Cd.17 Accumulated pulse setting value selection" is set to 0] If " Cd.17 Accumulated Cd.15 Alert output accumulated pulse setting value (minimum value) Alert output accumulated pulses (minimum value) = reference value (minimum value) + Cd.15 Alert output accumulated pulse setting value (minimum value) [If " Cd.17 Accumulated pulse setting value selection" is set to 1] Alert output accumulated pulses (minimum value) = reference value (minimum value) + pulse setting value selection" is set to 0: to -1 pulse If " Cd.17 Accumulated pulse setting value selection" is set to 1: 1000 to ( 10-3 : Last three digits are the value after the decimal point.) ( Cd.15 Alert output accumulated pulse setting value (minimum value) ) reference value (minimum value) 1000 For details on the accumulated pulse error detection function, refer to the following. Page 223, Section Control Data 95

98 Item Description Setting range The difference between the reference value (minimum value) and the judgment value (immediate stop accumulated pulses (minimum value)) is set. The relation between this setting and the judgment value is as follows. Default value Buffer memory address (decimal) [If " Cd.17 Accumulated pulse setting value selection" is set to 0] If " Cd.17 Accumulated Cd.16 Immediate stop accumulated pulse setting value (minimum value) Immediate stop accumulated pulses (minimum value) = reference value (minimum value) + Immediate stop accumulated pulse setting value (minimum value) [If " Cd.17 Cd.16 Accumulated pulse setting value selection" is set to 1] Immediate stop accumulated pulses (minimum value) = reference value (minimum pulse setting value selection" is set to 0: to -1 pulse If " Cd.17 Accumulated pulse setting value selection" is set to 1: 1000 to ( 10-3 : Last three digits are the value after the decimal point.) value) + ( Cd.16 Immediate stop accumulated pulse setting value (minimum value) ) reference value (minimum value) 1000 For details on the accumulated pulse error detection function, refer to the following. Page 223, Section 11.9 The setting unit for " Cd.13 Alert output accumulated pulse setting value (maximum Cd.17 Accumulated pulse setting value selection value)" to " Cd.16 Immediate stop accumulated pulse setting value (minimum value)" is selected. If a value other than 0 and 1 is set, the value is regarded as 0. If this area is set to 1 and the maximum/minimum reference values are set to 0, the error "Accumulated pulse error undetectable" (error code: 131) occurs and the accumulated pulse error detection function does not operate. 0: Set with pulse 1: Set with magnification 0: Set with pulse 408 For details on the accumulated pulse error detection function, refer to the following. Page 223, Section

99 CHAPTER 5 DATA USED FOR POSITIING Buffer Item Description Setting range Default value memory address (decimal) Use this area to start/stop the accumulated pulse error detection function. While this area is set to 1, the accumulated pulse error detection function is executed. However, if the reference value has never been measured, the error "Accumulated pulse error undetectable" (error code: 131) occurs and the function does not operate. If a value other than 0 and 1 is set, the value Cd.18 Accumulated pulse error detection request is regarded as 0. If " Cd.19 Measurement start request" is set to 1, the function does not operate even if this area is set to 1. (This request is ignored 0: No request 1: Requested 0: No request and after " Cd.19 Measurement start request" is set to 0, the function is executed.) For details on the accumulated pulse error detection function, refer to the following. Page 223, Section 11.9 Use this area to measure accumulated pulses used as the reference value to detect an error. While this area is set to 1, the maximum/minimum accumulated pulse Cd.19 Measurement start request values are measured. If a value other than 0 and 1 is set, the value is regarded as 0. If " Cd.18 Accumulated pulse error detection request" is set to 1, the value is not measured even if this area is set to 1. (This request is ignored and after 0: No request 1: Requested 0: No request Control Data " Cd.18 Accumulated pulse error detection request" is set to 0, the function is executed.) For details on the accumulated pulse error detection function, refer to the following. Page 223, Section

100 Buffer Item Description Setting range Default value memory address (decimal) Use this area to save the measured reference value in the flash ROM of the QD73A1. When this area setting is changed to 1, the measured reference value is saved in the flash ROM. When " Md.20 Reference value measurement flag" is set to 1, the value is written to the flash ROM. If Cd.20 Reference value write request " Md.20 Reference value measurement flag" is set to the value other than 1, the error "Reference value write error" (error code: 132) occurs and the value is not written. The QD73A1 set this area to 0 when the value saving in the flash ROM is completed. This process is the same when an error occurs and the value is not written. 0: No request 1: Requested 0: No request 411 For details on the accumulated pulse error detection function, refer to the following. Page 223, Section

101 CHAPTER 6 VARIOUS SETTINGS CHAPTER 6 VARIOUS SETTINGS This chapter describes setting procedures of the QD73A1. After writing the contents of the new module, parameter settings, and auto refresh settings into the CPU module, reset the CPU module and switch its status as STOP RUN STOP RUN, or turn off and on the power supply to activate the settings. After writing the contents of the switch settings, reset the CPU module or turn off and on the power supply to activate the settings. 6.1 Adding a Module (1) Addition procedure 6 Open the "New Module" window. Project window [Intelligent Function Module] Right-click [New Module...] 6.1 Adding a Module Item Description Module Module Type Set "QD70 Type Positioning Module". Selection Module Name Set the name of the module to mount. Base No. Set the base unit where the module is mounted. Mount Mounted Slot No. Set the slot No. where the module is mounted. Position Specify start XY address The start I/O number (hexadecimal) of the module is set, according to the mounted slot No. Any start I/O number can be set. Title setting Title Set any title. 99

102 6.2 Switch Setting Configure settings related to the drive unit and encoder that are connected to the QD73A1. (1) Setting method Open the "Switch Setting" window. Project window [Intelligent Function Module] Module name [Switch Setting] Item Description Setting value Default value Reference Rotation direction setting Set the rotation direction in which positioning addresses increase. Positive voltage is output when the positioning address increases. Negative voltage is output when the positioning address increases. Positive voltage is output when the positioning address increases. Page 101, Section to 3700 pulse [Selection 1] to 7400 pulse [Selection 2] Accumulated pulse setting Select the maximum accumulated pulse amount that can be counted in the deviation counter to pulse [Selection 3] to pulse [Selection 4] to pulse [Selection 5] to pulse [Selection 6] to pulse [Selection 4] Page 102, Section to pulse [Selection 7] to pulse [Selection 8] Multiplication setting Set the multiplication rate of feedback pulses from the pulse generator (PLG) /2 4 Page 104, Section OPR direction setting Set the direction in which OPR is executed. Reverse direction (address decreasing) Forward direction (address increasing) Reverse direction (address decreasing) Page 104, Section OPR method setting Select an OPR method. Near-point dog method Count method Near-point dog method Page 104, Section Encoder I/F setting Select an encoder output type from open collector, TTL, or differential output. Open collector output TTL output Differential output Open collector output Page 66, Section Analog voltage resolution setting Set resolution of analog voltage to be output as a speed command. 12-bit resolution 14-bit resolution 16-bit resolution 12-bit resolution Page 105, Section

103 CHAPTER 6 VARIOUS SETTINGS Item Description Setting value Default value Reference Feed back pulse addition/subtraction setting Set whether to add or subtract the feedback pulses to/from the deviation counter when the phase A of feedback pulse proceeds 90 degrees than phase B. Add when the phase A proceeds 90 degrees than phase B. Subtract when the phase A proceeds 90 degrees than phase B. Add when the phase A proceeds 90 degrees than phase B. Page 106, Section Deviation counter clear setting Set whether to clear the deviation counter when Servo READY signal turns off. Clear the deviation counter when the servo ready signal is. Do not clear the deviation counter when the servo ready signal is. Clear the deviation counter when the servo ready signal is. Page 107, Section Zero/gain adjustment mode/normal mode setting Select the zero/gain adjustment mode or the normal mode. Normal mode Zero/gain adjustment mode Normal mode Page 62, Section 4.5 (4) (b) Rotation direction setting Set the direction in which positioning addresses increase. The rotation direction of a motor depends on the polarity of the voltage to be applied to the servo amplifier. For details, refer to the manual for the servo amplifier. For connection between the QD73A1 and an encoder, refer to the following. Page 66, Section Switch Setting Rotation direction setting 101

104 6.2.2 Accumulated pulse setting Select the maximum accumulated pulse amount that can be counted in the deviation counter. (1) Calculating accumulated pulse amount When a servomotor is used, "maximum accumulated pulse amount" obtained by the following formula generates. Maximum accumulated pulse amount = Speed command (pulse/s) Position loop gain (s -1 ) Configure this setting so that "maximum accumulated pulse amount" stays within the accumulated pulse setting range. (a) Position loop gain Position loop gain is a parameter to be set on the servomotor side. It effects operation in case of a servomotor stop and pulse amount in the deviation counter during operation. Position loop gain value Description Low Accumulated amount is large, and adjustment time at a stop becomes long. High Overshoot becomes large at a stop, or vibration tends to occur during a stop. Position loop gain is adjusted to 20 to 30s -1 normally. Make fine adjustment if necessary. For details, refer to the manual for the servomotor. 102

105 CHAPTER 6 VARIOUS SETTINGS (b) Accumulated pulse amount and analog output voltage from the QD73A1 The analog output voltage from the QD73A1 is controlled in proportion to accumulated pulse amount. Analog output voltage Gain adjustment value Selection 1 Selection 2 Selection 3 Selection Accumulated pulse * * * * Gain adjustment value If the accumulated pulse exceeds the amount marked *, an excessive error occurs. 6 Analog output voltage Gain adjustment value Selection 5 Selection 6 Selection 7 Selection * * * * Gain adjustment value The following is an example of selecting an option in "Accumulated pulse setting". Accumulated pulse If the accumulated pulse exceeds the amount marked *, an excessive error occurs. 6.2 Switch Setting Accumulated pulse setting Ex. Maximum speed: 4Mpulse/s, position loop gain: 30s -1 Accumulated pulse Maximum speed = = = pulses Position loop gain 30 If the number of accumulated pulses is , " to pulse" should be selected in "Accumulated pulse setting" so that analog output voltage will not be saturated. 103

106 (2) Excessive error If accumulated pulse amount exceeds an upper limit value (values marked * in Page 103, Section (1) (b)), an excessive error occurs and the following conditions occur in the system. Excessive error signal (X17): Analog output voltage: 0V Accumulated pulses: Reset to 0 Servo signal (SV): To reset an excessive error, turn off and on PLC READY signal (Y2D) Multiplication setting Set the multiplication rate of feedback pulses from the pulse generator (PLG). This setting multiplies the feedback pulse count by 4, 2, 1, or 1/2. Use this setting to change movement amount per pulse by 1/4, 1/2, 1, or 2. Phase-A feedback pulse (PULSE A) Phase-B feedback pulse (PULSE B) Maximum 1Mpulse/s Multiplication setting Times 4 Times 2 Times 1 Times 1/ OPR direction setting Set the direction in which OPR is executed. For OPR control, refer to the following. Page 178, CHAPTER 8 Important OPR (Original Point Return) is controlled by two kinds of data: OPR direction and OPR speed. Deceleration starts when the near-point dog turns on. If an incorrect OPR direction is set, motion control may continue without deceleration. To prevent machine damage caused by this, configure an interlock circuit external to the programmable controller OPR method setting Select an OPR method. For OPR control, refer to the following. Page 178, CHAPTER 8 104

107 CHAPTER 6 VARIOUS SETTINGS Encoder I/F setting Select an encoder output type from open collector, TTL, or differential output. For connection between the QD73A1 and an encoder, refer to the following. Page 66, Section Analog voltage resolution setting Set resolution of analog voltage to be output as a speed command. The default value of "Analog voltage resolution setting" is "12-bit resolution". When the analog voltage resolution of the connected drive unit is higher than 12 bits and the motor rotates even with a tiny voltage, the resolution can be set higher (14 bits or 16 bits). In that way, fine control can be achieved Switch Setting Encoder I/F setting 105

108 6.2.8 Feedback pulse addition/subtraction setting Set whether to add or subtract the feedback pulses to/from the deviation counter when the phase A of feedback pulse proceeds 90 degrees than phase B. This setting becomes enabled only when "1: Negative voltage is output when the positioning address increases." is set for "Rotation direction setting" in the switch setting. If "0: Positive voltage is output when the positioning address increases." is set, the setting value of "Feed back pulse addition/subtraction setting" is ignored. For the connection between the QD73A1 and the encoder, refer to the following. Page 66, Section When the feedback pulses are input, the feedback pulses are added or subtracted to/from the deviation counter (when "Multiplication setting" is 4). (1) When a feedback pulse whose phase A is ahead of phase B by 90 is input Phase-A feedback pulse Phase-B feedback pulse 1) When "0: Add when the phase A proceeds 90 degrees than phase B." is set Deviation counter value Added 2) When "1: Subtract when the phase A proceeds 90 degrees than phase B." is set Deviation counter value Subtracted (2) When a feedback pulse whose phase B is ahead of phase A by 90 is input Phase-A feedback pulse Phase-B feedback pulse 1) When "0: Add when the phase A proceeds 90 degrees than phase B." is set Deviation counter value Subtracted 2) When "1: Subtract when the phase A proceeds 90 degrees than phase B." is set Deviation counter value Added 106

109 CHAPTER 6 VARIOUS SETTINGS Deviation counter clear setting Set whether to clear the deviation counter when Servo READY signal turns off. If "0: Clear the deviation counter when the servo ready signal is." is set, the deviation counter is cleared and OPR request signal turns on when Servo READY signal turns off. After Servo READY signal is turned on, execute OPR before executing the positioning control. If "1: Do not clear the deviation counter when the servo ready signal is." is set, the deviation counter is not cleared when Servo READY signal turns off. OPR request signal does not turn on as well. When turning on Servo READY signal after that, ensure the system safety in advance because turning on the signal may cause a sudden rotation of the motor. Servo READY signal Feedback pulse 6 (1) When "0: Clear the deviation counter when the servo ready signal is." is set Current feed value Actual current value 0 0 The current feed value and the position of the controlled object may not match. Execute the OPR. Deviation counter value 0 OPR request signal (X12) Analog output Actual current value Deviation counter value 0V (2) When "1: Do not clear the deviation counter when the servo ready signal is." is set Current feed value Switch Setting Deviation counter clear setting OPR request signal (X12) Analog output 0V 1) 2) 3) 4) 5) 5) 1) 0V 1) to 5): Voltage corresponds to the deviation counter value is output. 1): Voltage corresponds to one pulse is output. The motor may rotate suddenly. Ensure the safety before turning on Servo READY signal. 107

110 6.3 Parameter Setting Set positioning parameters and OPR parameters. Setting parameters on the screen omits the parameter setting in a sequence program. (1) Setting method Open the "Parameter" window. 1. Start "Parameter" in the project window. Project window [Intelligent Function Module] Module name [Parameter] 2. Double-click the item to change the setting, and input the setting value. Items to input from the pull-down list For "Positioning mode", double-click the item to display the pull-down list. Select an option. Items to input from the text box Double-click the item to set, and input the setting value. For details on setting values, refer to the following. Setting item Default value Reference Fixed parameter Variable parameter OPR parameter Stroke limit upper limit pulse Stroke limit lower limit 0 pulse Page 76, Section 5.2 (1) Numerator of command pulse multiplication for electronic gear 1 Denominator of command pulse multiplication for electronic gear 1 Page 77, Section 5.2 (2) Speed limit value pulse/s Page 77, Section 5.2 (3) Acceleration time 300 ms Deceleration time 300 ms Page 78, Section 5.2 (4) In-position range 5 pulse Page 78, Section 5.2 (5) Positioning mode 0: Position control mode Page 78, Section 5.2 (6) OP address 0 pulse Page 79, Section 5.3 (1) OPR speed pulse/s Page 79, Section 5.3 (2) Creep speed 1000 pulse/s Page 80, Section 5.3 (3) Setting for the movement amount after near-point dog 75 pulse Page 81, Section 5.3 (4) 108

111 CHAPTER 6 VARIOUS SETTINGS 6.4 Positioning Data Setting Set positioning data. Setting positioning data on the screen omits the positioning data setting in a sequence program. (1) Setting method Open the "Positioning_Axis_#1_Data" window. 1. Start "Positioning_Axis_#1_Data" in the project window. Project window [Intelligent Function Module] Module name [Positioning_Axis_#1_Data] 2. Double-click "Positioning pattern", and set a positioning pattern. 3. Double -click items other than "Positioning pattern", and input setting values. For details on setting values, refer to the following. 6 Setting item Default value Reference Positioning pattern Page 82, Section 5.4 (1) Positioning address P1 Page 83, Section 5.4 (2) Positioning speed V1 None (empty) Page 84, Section 5.4 (3) Positioning address P2 Page 84, Section 5.4 (4) Positioning speed V2 Page 84, Section 5.4 (5) 6.4 Positioning Data Setting 109

112 6.5 Auto Refresh This function transfers data in the buffer memory to specified devices. The auto refresh setting omits data reading/writing through a program. (1) Setting method Open the "Auto_Refresh" window. 1. Start "Auto_Refresh" in the project window. Project window [Intelligent Function Module] Module name [Auto_Refresh] 2. Click the item to set, and input the destination device for auto refresh. 110

113 CHAPTER 7 PROGRAMMING CHAPTER 7 PROGRAMMING This chapter describes sequence programs of the QD73A1. When applying the program examples introduced in this chapter to the actual system, ensure the applicability and confirm that they will not cause system control problems. 7.1 Precautions on Programming (1) At power-on and operation start At a power-on or operation start, execute OPR to confirm the original point (OP). When an OPR request is issued, take the OPR into consideration. (2) Near-point dog signal Use a high-performance near-point dog signal. If Near-point dog signal is not input upon OPR, the workpiece continues to move at the OPR speed. (3) Measures against an overrun By setting a stroke limit upper limit and lower limit of the QD73A1, an overrun can be prevented. Note that this is only when the QD73A1 is operating normally. Set limit switches "upper limit switch" and "lower limit switch" to ensure the safety of the entire system. It is recommended to establish an external circuit through which the motor's power turns off when a limit switch turns on. 7 (4) Stroke limit upper limit value/lower limit value Check that proper values are set in " Pr.1 Stroke limit upper limit" and " Pr.2 Stroke limit lower limit". (5) Emergency stop signal Establish an emergency stop circuit outside the programmable controllers. (6) When errors are checked in a sequence program Turn off PLC READY signal (Y2D) at error detection. 7.1 Precautions on Programming (7) Pr.5 Speed limit value Check that a proper value is set. (8) Cd.3 JOG speed Do not set a large value at the beginning; start operation at lower speed. 111

114 (9) Communication with the QD73A1 There are following ways of communication with the QD73A1 using a sequence program. Communication using intelligent function module devices Communication using the FROM/TO instruction The sequence programs introduced in this chapter uses intelligent function module devices. When using the FROM/TO instruction, change the sequence program as shown below. When an intelligent function module device is used as the destination side in a circuit using the BMOVP instruction, change the instruction to the TOP instruction. Intelligent function module device Designated value at U1 Designated value at G301 Number of write data When an intelligent function module device is used in a circuit using a comparison instruction, change the instruction to the FROM instruction and a comparison instruction. Data read out For intelligent function module devices, refer to the following. The user's manual (Function Explanation, Program Fundamentals) for the CPU module used. For details on the instructions used in programs in this chapter, refer to the following. MELSEC-Q/L Programming Manual (Common Instruction) 112

115 CHAPTER 7 PROGRAMMING (10)I/O number assignment for the QD73A1 The QD73A1 occupies 48 I/O points of 2 slots. (a) Default I/O number assignment Set the first half to "Empty 16 points" and the second half to "Intelligent 32 points" in GX Works2. When executing the FROM/TO instruction on the QD73A1, use the I/O number assigned to the second half (slot) of the QD73A1. (b) When the first half (slot) is "Empty 0 point" At the I/O assignment in GX Works2, the 16 points in the first half can be saved by setting the first half to "Empty 0 point". 7 When executing the FROM/TO instruction on the QD73A1, use the I/O number assigned to the second half (slot) of the QD73A Precautions on Programming 113

116 7.2 Programs for Positioning Follow the procedure below when creating programs that execute positioning using the QD73A1. Procedure Program Reference Parameter setting Create a program for parameter setting. OPR Create a program for one of the following. Near-point dog method Count method Start program Create programs for the following depending on the control to be executed. Positioning control Two-phase trapezoidal positioning control Speed-position control switch mode Speed control operation Fixed-feed operation JOG operation Sub program Create programs for the following depending on the control to be executed. Current value change Speed change Deviation counter clear Stop program Create a program for stopping control. Page 117, Section Page 149, Section Page 119, Section Page 151, Section Page 125, Section Page 133, Section Page 135, Section Page 157, Section Page 167, Section Page 170, Section Page 137, Section Page 172, Section Page 141, Section Page 177, Section

117 CHAPTER 7 PROGRAMMING 7.3 When Using the Module in a Standard System Configuration This section introduces program examples where the following system configuration applies. (1) System configuration QCPU QD73A1 QX41 First half: X/Y0 to X/YF (Empty 16 points) Second half: X/Y10 to X/Y2F (Intelli. 32 points) X30 to X4F (2) Switch setting Configure the switch setting as follows. 7 Project window [Intelligent Function Module] [QD73A1] [Switch Setting] Rotation direction setting Accumulated pulse setting Multiplication setting OPR direction setting OPR method setting Item Setting value Set this item according to the system to be used. Set this item according to the system to be used. Set this item according to the system to be used. Set this item according to the system to be used. Set the near-point dog method or the count method. 7.3 When Using the Module in a Standard System Configuration Encoder I/F setting Set this item according to the system to be used. Analog voltage resolution setting Feed back pulse addition/subtraction setting Deviation counter clear setting Zero/gain adjustment mode/normal mode setting Set this item according to the system to be used. Set this item according to the system to be used. Set this item according to the system to be used. Set "Normal mode". 115

118 (3) Writing parameters Write the set parameters to the CPU module, then reset the CPU module or turn off and on the power supply of the programmable controller. [Online] [Write to PLC...] or Power off on (4) I/O signals of the QD73A1 Refer to Page 30, Section I/O signals used in program examples are assigned as in the list on Page 30, Section (5) Program example Refer to the following. Program example Reference Parameter setting program Page 117, Section Near-point dog method OPR program Page 119, Section (1) Count method OPR program Page 122, Section (2) Positioning control program Page 125, Section (1) Two-phase trapezoidal positioning control program Page 127, Section (2) Speed-position control switch mode program Page 129, Section (3) Speed control operation program Page 131, Section (4) Fixed-feed operation program Page 133, Section JOG operation program Page 135, Section Current value change program Page 137, Section (1) Speed change program Page 138, Section (2) Deviation counter clearing program Page 140, Section (3) Stop program during positioning Page 141, Section

119 CHAPTER 7 PROGRAMMING Parameter setting program This program sets fixed parameters and variable parameters. Parameters described in this section can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program in this section is unnecessary when the parameters were set through GX Works2. (1) Program detail The following fixed parameters are set once the CPU module is in the RUN status. Item Setting detail Pr.1 Pr.2 Stroke limit upper limit Stroke limit lower limit pulse 0pulse Pr.3 Numerator of command pulse multiplication for electronic gear Pr.4 Denominator of command pulse multiplication for electronic gear As X30 is turned on, the following variable parameters are set. Item Setting detail Pr.5 Pr.6 Speed limit value Acceleration time 30000pulse 400ms Pr.7 Pr.8 Pr.9 Deceleration time 250ms In-position range 10pulse Positioning mode 0: Position control mode (2) Execution condition Check item WDT error, H/W error signal (X10) I/O signal QD73A1 READY signal (X11) PLC READY signal (Y2D) (3) Device used by the user Device Description X30 Variable parameter setting command D0 Stroke limit upper limit (lower 16 bits) D1 Stroke limit upper limit (upper 16 bits) D2 Stroke limit lower limit (lower 16 bits) D3 Stroke limit lower limit (upper 16 bits) D4 Numerator of command pulse multiplication for electronic gear D5 Denominator of command pulse multiplication for electronic gear D10 Speed limit value (lower 16 bits) D11 Speed limit value (upper 16 bits) Condition 7.3 When Using the Module in a Standard System Configuration Parameter setting program 117

120 D12 D13 D14 D15 M0 M1 SM402 Device Description Acceleration time Deceleration time In-position range Positioning mode Fixed parameter setting memory Variable parameter setting memory Turns on for one scan once the CPU module is in the RUN status (4) Program example Stroke limit upper limit ( pulse) Stroke limit lower limit (0pulse) Numerator of command pulse multiplication for electronic gear (1) Denominator of command pulse multiplication for electronic gear (1) Set fixed parameters to the QD73A1. Completes the fixed parameter settings. Speed limit value (30000pulse) Acceleration time (400ms) Deceleration time (250ms) In-position range (10pulse) Positioning mode (Position control mode) Set variable parameters to the QD73A1. Completes the variable parameter settings. 118

121 CHAPTER 7 PROGRAMMING OPR program Programs in this section execute OPR in the near-point dog method or the count method. (1) Near-point dog method OPR program This program executes OPR in the near-point dog method. Suppose that fixed parameters and variable parameters are already set. ( Page 117, Section 7.3.1) (a) Program detail The following OPR parameters are written once the CPU module is in the RUN status, and PLC READY signal (Y2D) turns on. Item Setting detail Pr.10 OP address 100pulse Pr.11 Pr.12 OPR speed Creep speed 5000pulse/s 500pulse/s As X31 is turned on after PLC READY signal (Y2D) turned on, the module executes OPR. (b) Switch setting Before executing the program, set "Near-point dog method" to "OPR method setting". 7 Project window [Intelligent Function Module] [QD73A1] [Switch Setting] 7.3 When Using the Module in a Standard System Configuration OPR program 119

122 (c) Execution condition Check item Servo READY signal (READY) Stop signal (STOP) External I/O signal Upper limit signal (FLS) Lower limit signal (RLS) Near-point dog signal (DOG) WDT error, H/W error signal (X10) QD73A1 READY signal (X11) OPR complete signal (X13) BUSY signal (X14) Excessive error signal (X17) I/O signal Error detection signal (X18) OPR start complete signal (X20) Synchronization flag (X24) OPR start signal (Y20) Stop signal (Y27) PLC READY signal (Y2D) Buffer memory OPR parameters No error Condition (d) Device used by the user X31 D20 D21 D22 D23 D24 D25 M0 M34 M35 M37 SM402 Device Description OPR command OP address (lower 16 bits) OP address (upper 16 bits) OPR speed (lower 16 bits) OPR speed (upper 16 bits) Creep speed (lower 16 bits) Creep speed (upper 16 bits) Fixed parameter setting memory OPR parameter setting memory OPR request OPR command pulse Turns on for one scan once the CPU module is in the RUN status 120

123 CHAPTER 7 PROGRAMMING (e) Program example *1 OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Set OPR parameters to the QD73A1. Completes the OPR parameter settings. Turn on/off PLC READY signal. Command OPR. Turn on OPR start one scan. Turn on OPR start signal. Turn off OPR start signal. 7 *1 OPR parameters can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program that sets OPR parameters is unnecessary when the parameters were set through GX Works When Using the Module in a Standard System Configuration OPR program 121

124 (2) Count method OPR program This program executes OPR in the count method. Suppose that fixed parameters and variable parameters are already set. ( Page 117, Section 7.3.1) (a) Program detail The following OPR parameters are written once the CPU module is in the RUN status, and PLC READY signal (Y2D) turns on. Item Setting detail Pr.10 Pr.11 Pr.12 OP address 100pulse OPR speed 5000pulse/s Creep speed 500pulse/s Pr.13 Setting for the movement amount after near-point dog 2000pulse As X31 is turned on after PLC READY signal (Y2D) turned on, the module executes OPR. (b) Switch setting Before executing the program, set "Count method" to "OPR method setting". Project window [Intelligent Function Module] [QD73A1] [Switch Setting] 122

125 CHAPTER 7 PROGRAMMING (c) Execution condition Check item Servo READY signal (READY) External I/O signal Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) WDT error, H/W error signal (X10) QD73A1 READY signal (X11) BUSY signal (X14) Excessive error signal (X17) I/O signal Error detection signal (X18) OPR start complete signal (X20) Synchronization flag (X24) OPR start signal (Y20) Stop signal (Y27) PLC READY signal (Y2D) Buffer memory OPR parameters No error Condition (d) Device used by the user Device Description X31 OPR command D20 OP address (lower 16 bits) D21 OP address (upper 16 bits) D22 OPR speed (lower 16 bits) D23 OPR speed (upper 16 bits) D24 Creep speed (lower 16 bits) D25 Creep speed (upper 16 bits) D26 Movement amount after near-point dog (lower 16 bits) D27 Movement amount after near-point dog (upper 16 bits) M0 Fixed parameter setting memory M34 OPR parameter setting memory M35 OPR request M37 OPR command pulse SM402 Turns on for one scan once the CPU module is in the RUN status When Using the Module in a Standard System Configuration OPR program 123

126 (e) Program example *1 OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Movement amount after near-point dog (2000pulse) Set OPR parameters to the QD73A1. Completes the OPR parameter settings. Turn on/off PLC READY signal. Command OPR. Turn on OPR start one scan. Turn on OPR start signal. Turn off OPR start signal. *1 OPR parameters can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program that sets OPR parameters is unnecessary when the parameters were set through GX Works2. 124

127 CHAPTER 7 PROGRAMMING Major positioning control program Programs in this section execute major positioning control. (1) Positioning control program This program executes positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.2) (a) Program detail As X33 is turned on, the following positioning data are written. Item Setting detail Da.1 Da.2 Da.3 Positioning pattern Positioning address P1 Positioning speed V1 0: Positioning control pulse 10000pulse/s As X34 is turned on, the module executes positioning control in the absolute system. (b) Execution condition Check item Condition Note Servo READY signal (READY) External I/O Stop signal (STOP) signal Upper limit signal (FLS) Lower limit signal (RLS) WDT error, H/W error signal (X10) QD73A1 READY signal (X11) BUSY signal (X14) Excessive error signal (X17) Error detection signal (X18) I/O signal Absolute positioning start complete signal (X21) Synchronization flag (X24) Absolute positioning start signal (Y21) Stop signal (Y27) PLC READY signal (Y2D) When the positioning speed is set Buffer memory Positioning data No error exceeding " Speed limit value", the positioning is executed at " Pr.5 Pr.5 Speed limit value" When Using the Module in a Standard System Configuration Major positioning control program 125

128 (c) Device used by the user X33 X34 D30 D31 D32 D33 D34 M40 Device Positioning data write command Positioning start command Positioning pattern Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Positioning start command pulse Description (d) Program example *1 Positioning pattern (Positioning control) Positioning address P1 (100000pulse) Positioning speed V1 (10000pulse/s) Set positioning data to the QD73A1. Command the positioning start. Turn on Absolute positioning start signal. Turn off Absolute positioning start signal. *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data is unnecessary when the data were set through GX Works2. 126

129 CHAPTER 7 PROGRAMMING (2) Two-phase trapezoidal positioning control program This program executes two-phase trapezoidal positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.2) (a) Program detail As X35 is turned on, the following positioning data are written. Da.1 Da.2 Da.3 Da.4 Da.5 Item Positioning pattern Positioning address P1 Positioning speed V1 Positioning address P2 Positioning speed V2 Setting detail 1: Two-phase trapezoidal positioning control pulse 10000pulse/s pulse 12000pulse/s As X36 is turned on, the module executes two-phase trapezoidal positioning control in the absolute system. (b) Execution condition The execution condition is the same as that of positioning control program. ( Page 125, Section (1) (b)) 7 (c) Device used by the user X35 X36 D30 D31 D32 D33 D34 D35 D36 D37 D38 M43 Device Description Positioning data write command Two-phase trapezoidal positioning control start command Positioning pattern Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Positioning address P2 (lower 16 bits) Positioning address P2 (upper 16 bits) Positioning speed V2 (lower 16 bits) Positioning speed V2 (upper 16 bits) Two-phase trapezoidal positioning control start command pulse 7.3 When Using the Module in a Standard System Configuration Major positioning control program 127

130 (d) Program example *1 Positioning pattern (Two-phase trapezoidal positioning control) Positioning address P1 (100000pulse) Positioning speed V1 (10000pulse/s) Positioning address P2 (150000pulse) Positioning speed V2 (12000pulse/s) Set positioning data to the QD73A1. Command the positioning start. Turn on Absolute positioning start signal. Turn off Absolute positioning start signal. *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data is unnecessary when the data were set through GX Works2. 128

131 CHAPTER 7 PROGRAMMING (3) Speed-position control switch mode program This program switches the positioning mode to the "speed-position control switch mode". Suppose that the parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.2) (a) Program detail As X37 is turned on, the positioning mode is set to "speed-position control switch mode". As X38 is turned on, the following positioning data are written. Item Setting detail Da.2 Da.3 Positioning address P1 Positioning speed V1 5000pulse 1000pulse/s As X39 is turned on, the module starts speed control. The module switches the operation to position control following an external control switch command. As X3B is turned on, the module restarts operation in case that the operation was stopped following a stop signal input. (b) Execution condition Check item Condition Note Servo READY signal (READY) External I/O Stop signal (STOP) signal Upper limit signal (FLS) Lower limit signal (RLS) QD73A1 READY signal (X11) BUSY signal (X14) Excessive error signal (X17) Error detection signal (X18) Forward start complete signal (X22) Synchronization flag (X24) I/O signal Forward start signal (Y22) Reverse start signal (Y23) Speed-position mode restart signal (Y26) Stop signal (Y27) Speed-position switching enable signal (Y2C) PLC READY signal (Y2D) When the positioning speed is set Buffer memory Positioning data No error exceeding " Speed limit value", the positioning is executed at " Pr.5 Pr.5 Speed limit value" When Using the Module in a Standard System Configuration Major positioning control program 129

132 (c) Device used by the user X37 X38 X39 X3B D29 D31 D32 D33 D34 M46 M58 Device Description Variable parameter change command Positioning data write command Speed-position control positioning start command Speed-position control positioning restart command Positioning mode Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Speed-position control positioning start command pulse Speed-position control positioning restart command pulse (d) Program example *1 Positioning mode (Speed-position control switch mode) Set variable parameters to the QD73A1. Positioning address P1 (5000pulse) Positioning speed V1 (1000pulse/s) Set positioning data to the QD73A1. Command the start of the speed-position control switch mode. Turn on Forward start signal. Turn on Speed-position switching enable signal. Command the restart of the speed-position control switch mode. Turn on Speed-position mode restart signal. Turn on Speed-position switching enable signal. Turn off Forward start signal. Turn off Speed-position mode restart signal. *1 Variable parameters and positioning data can be set through GX Works2 also. ( Page 108, Section 6.3, Page 109, Section 6.4) The sequence program that sets variable parameters and positioning data is unnecessary when the data were set through GX Works2. 130

133 CHAPTER 7 PROGRAMMING (4) Speed control operation program This program executes speed control using the speed control function of the speed-position control switch mode. Suppose that parameters are already set. ( Page 117, Section 7.3.1) (a) Program detail As X3C is turned on, the positioning mode is set to "speed-position control switch mode". As X3D is turned on, the following positioning data is written. Item Setting detail Da.3 Positioning speed V1 1000pulse/s As X3E is turned on, the module starts speed control of forward run. As X3F is turned on, the module starts speed control of reverse run. (b) Execution condition Check item Condition Note External I/O signal I/O signal Servo READY signal (READY) Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) QD73A1 READY signal (X11) BUSY signal (X14) Excessive error signal (X17) Error detection signal (X18) Forward start complete signal (X22) Reverse start complete signal (X23) Synchronization flag (X24) Forward start signal (Y22) Reverse start signal (Y23) Speed-position mode restart signal (Y26) Stop signal (Y27) Speed-position switching enable signal (Y2C) PLC READY signal (Y2D) Buffer memory Positioning data No error When the positioning speed is set exceeding " Speed limit value", the positioning is executed at " Pr.5 Pr.5 Speed limit value" When Using the Module in a Standard System Configuration Major positioning control program 131

134 (c) Device used by the user X3C X3D X3E X3F D28 D62 D63 M50 Device Description Speed control operation change command Positioning data write command Forward run command Reverse run command Positioning mode Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Speed control command pulse (d) Program example *1 Turn off Speed-position switching enable signal. Positioning mode (Speed-position control switch mode) Set variable parameters to the QD73A1. Positioning speed V1 (1000pulse/s) Set positioning data to the QD73A1. Command speed control. Turn on Forward start signal. Turn on Reverse start signal. Turn off Forward start signal. Turn off Reverse start signal. *1 Variable parameters and positioning data can be set through GX Works2 also. ( Page 108, Section 6.3, Page 109, Section 6.4) The sequence program that sets variable parameters and positioning data is unnecessary when the data were set through GX Works2. 132

135 CHAPTER 7 PROGRAMMING Fixed-feed operation program This program executes positioning in the address increasing direction according to the specified movement amount and speed. Execute fixed-feed operation by turning on Fixed-feed start command repeatedly. Use the current value change function and positioning start in the absolute system. Suppose that parameter setting and OPR were completed. ( Page 117, Section 7.3.1, Page 119, Section 7.3.2) (1) Program detail As X40 is turned on, the following positioning data are written. Item Setting detail Da.2 Da.3 Positioning address P1 Positioning speed V pulse 1000pulse/s As X41 is turned on, the module starts fixed-feed operation. (2) Execution condition Check item Condition Note Servo READY signal (READY) External I/O Stop signal (STOP) signal Upper limit signal (FLS) Lower limit signal (RLS) QD73A1 READY signal (X11) BUSY signal (X14) Excessive error signal (X17) Error detection signal (X18) I/O signal Absolute positioning start complete signal (X21) Synchronization flag (X24) Absolute positioning start signal (Y21) Stop signal (Y27) PLC READY signal (Y2D) When the positioning speed is set Buffer memory Positioning data No error exceeding " Speed limit value", the positioning is executed at " Pr.5 Pr.5 Speed limit value" When Using the Module in a Standard System Configuration Fixed-feed operation program 133

136 (3) Device used by the user X40 X41 D57 D58 D60 D61 D62 D63 D90 M53 M61 Device Description Fixed-feed positioning data write command Fixed-feed start command New current value (lower 16 bits) New current value (upper 16 bits) Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Current value change request Fixed-feed positioning data write command pulse Current value change command (4) Program example *1 Positioning address P1 (20000pulse) Positioning speed V1 (1000pulse/s) Set positioning data to the QD73A1. Command the fixed-feed positioning start. New current value (0pulse) Set a new current value to the QD73A1. Completes setting a current value. Command a current value change. Request a current value change. Reset the current value change. Turn on Absolute positioning start signal. Turn off Absolute positioning start signal. *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data is unnecessary when the data were set through GX Works2. 134

137 CHAPTER 7 PROGRAMMING JOG operation program This program executes JOG operation while a JOG start command is on. Suppose that parameters are already set. ( Page 117, Section 7.3.1) (1) Program detail As X42 is turned on, JOG speed is written. Item Setting detail Cd.3 JOG speed 10000pulse/s As X43 is turned on, the module executes forward JOG operation. As X44 is turned on, the module executes reverse JOG operation. (2) Execution condition Check item Condition Note Servo READY signal (READY) External I/O signal Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) QD73A1 READY signal (X11) BUSY signal (X14) External stop signal (X1D) I/O signal Synchronization flag (X24) Forward JOG start signal (Y24) Reverse JOG start signal (Y25) Stop signal (Y27) PLC READY signal (Y2D) Buffer memory JOG speed No error Cd.3 (3) Device used by the user Device Description X42 JOG speed write command X43 Forward JOG command X44 Reverse JOG command D72 JOG speed (lower 16 bits) D73 JOG speed (upper 16 bits) M55 JOG command When " Cd.3 exceeding " JOG speed" is set Pr.5 Speed limit value", the operation is executed at " Pr.5 Speed limit value" When Using the Module in a Standard System Configuration JOG operation program 135

138 (4) Program example JOG speed (10000pulse/s) Set JOG speed data to the QD73A1. Turn on JOG command. Turn on/off Forward JOG start signal. Turn on/off Reverse JOG start signal. Turn off JOG command. 136

139 CHAPTER 7 PROGRAMMING Control change program (1) Current value change program This program changes the current value to "0". (a) Program detail As X45 is turned on, the current value is changed. Item Setting detail Cd.1 New current value 0pulse (b) Execution condition Check item Condition Note WDT error, H/W error signal (X10) BUSY signal (X14) I/O signal Error detection signal (X18) Synchronization flag (X24) (c) Device used by the user 7 Device X45 Current value change command D100 New current value (lower 16 bits) D101 New current value (upper 16 bits) D90 Current value change request M61 Current value change (d) Program example Description New current value (0pulse) Set a new current value to the QD73A1. Completes the new current value setting. Current value change Request a current value change. Completes the current value change. 7.3 When Using the Module in a Standard System Configuration Control change program 137

140 (2) Speed change program This program changes positioning speed. (a) Program detail As X46 is turned on, positioning speed is changed. Item Setting detail Cd.2 New speed value 50000pulse/s (b) Execution condition Check item Condition Note Servo READY signal (READY) External I/O signal Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) WDT error, H/W error signal (X10) QD73A1 READY signal (X11) BUSY signal (X14) I/O signal Excessive error signal (X17) Error detection signal (X18) Synchronization flag (X24) Stop signal (Y27) PLC READY signal (Y2D) Buffer memory New speed value No error Cd.2 When " Cd.2 set exceeding " New speed value" is Pr.5 Speed limit value", the operation is executed at " Pr.5 Speed limit value". (c) Device used by the user Device Description X46 Speed change command D102 New speed value (lower 16 bits) D103 New speed value (upper 16 bits) D91 Speed change request M65 Speed change 138

141 CHAPTER 7 PROGRAMMING (d) Program example New speed value (50000pulse/s) Set a new speed value to the QD73A1. Completes the new speed value setting. Speed change Request a speed change. Completes the speed change When Using the Module in a Standard System Configuration Control change program 139

142 (3) Deviation counter clearing program This program clears the deviation counter to 0. (a) Program detail As X47 is turned on, the deviation counter is cleared to 0. Cd.4 Item Deviation counter clear command 1: Clear the deviation counter Setting detail (b) Execution condition I/O signal Check item Condition Note WDT error, H/W error signal (X10) BUSY signal (X14) Error detection signal (X18) Synchronization flag (X24) (c) Device used by the user X47 D86 M10 Device Description Deviation counter clear command Deviation counter clear request Deviation counter clearing completion check (d) Program example Deviation counter clear command Command deviation counter clear to the QD73A1. Command to check the deviation counter clear. Completes clearing the deviation counter. 140

143 CHAPTER 7 PROGRAMMING Stop program during positioning This program stops the positioning in execution. (a) Program detail As X3A is turned on, the module stops the positioning in execution. (b) Device used by the user X3A Device Stop command Description (c) Program example Turn on Stop signal. Turn off Stop signal When Using the Module in a Standard System Configuration Stop program during positioning 141

144 7.4 When Using the Module in a Remote I/O Network This section introduces program examples of when the QD73A1 is used in a MELSECNET/H remote I/O network. For details on a MELSECNET/H remote I/O network, refer to the following. Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O network) (1) System configuration Remote master station (station No.0) Remote I/O station (station No.1) QCPU QJ71LP21-25 X/Y00 to X/Y1F QJ72LP25-25 QX10 X20 to X2F QX10 X1000 to X100F QX10 X30 to X3F QY10 Y1010 to Y101F First half: (Empty 0 point) QD73A1 Second half: X/Y1020 to X/Y103F (Intelli. 32points) GX Works2 Network No.1 142

145 CHAPTER 7 PROGRAMMING (2) Setting on the master station 1. Create a project on GX Works2. Select "QCPU (Q mode)" for "PLC Series", and select the CPU module used for "PLC Type". [Project] [New...] 2. Display the network parameter setting window, and configure the setting as follows. 7 Project window [Parameter] [Network Parameter] [Ethernet/CC IE/MELSECNET] 7.4 When Using the Module in a Remote I/O Network 143

146 3. Display the network range assignment setting window, and configure the setting as follows. Project window [Parameter] [Network Parameter] [Ethernet/CC IE/MELSECNET] button Project window [Parameter] [Network Parameter] [Ethernet/CC IE/MELSECNET] button "Switch Screens" "XY Setting" 4. Display the refresh parameter setting window, and configure the setting as follows. Project window [Parameter] [Network Parameter] [Ethernet/CC IE/MELSECNET] button 5. Write the set parameters to the CPU module on the master station. Then reset the CPU module or turn off and on the power supply of the programmable controller. [Online] [Write to PLC...] or Power off on 144

147 CHAPTER 7 PROGRAMMING (3) Setting on the remote I/O station 1. Create a project on GX Works2. Select "QCPU (Q mode)" for "PLC Series", and select "QJ72LP25/QJ72BR15(RemoteI/O)" for "PLC Type". [Project] [New...] 2. Add the QD73A1 to the project on GX Works2. Project window [Intelligent Function Module] Right-click [New Module...] When Using the Module in a Remote I/O Network 145

148 3. Display the QD73A1's switch setting window, and configure the setting as follows. Project window [Intelligent Function Module] [QD73A1] [Switch Setting] Item Rotation direction setting Accumulated pulse setting Multiplication setting OPR direction setting OPR method setting Encoder I/F setting Analog voltage resolution setting Feed back pulse addition/subtraction setting Deviation counter clear setting Zero/gain adjustment mode/normal mode setting Setting value Set this item according to the system to be used. Set this item according to the system to be used. Set this item according to the system to be used. Set this item according to the system to be used. Set the near-point dog method or the count method. Set this item according to the system to be used. Set this item according to the system to be used. Set this item according to the system to be used. Set this item according to the system to be used. Set "Normal mode". 4. Write the set parameters to the remote I/O module, then reset the remote I/O module. [Online] [Write to PLC...] MODE RESET Press the switch in this direction for a while. 146

149 CHAPTER 7 PROGRAMMING (4) I/O signals of the QD73A1 The following is the I/O signal assignment viewed from the master station side. (a) Input signal list Input signal (CPU module QD73A1) Input signal (CPU module QD73A1) Device No. Signal name Device No. Signal name X1020 WDT error, H/W error signal X1030 OPR start complete signal X1021 QD73A1 READY signal X1031 Absolute positioning start complete signal X1022 OPR request signal X1032 Forward start complete signal X1023 OPR complete signal X1033 Reverse start complete signal X1024 BUSY signal X1034 Synchronization flag X1025 Positioning complete signal X1035 X1026 In-position signal X1036 X1027 Excessive error signal X1037 Use prohibited X1028 Error detection signal X1038 X1029 Overflow signal X1039 X102A Underflow signal X103A Zero/gain adjustment data writing complete flag X102B Servo READY signal X103B Zero/gain adjustment change complete flag X102C Near-point dog signal X103C Set value change complete flag X102D External stop signal X103D Operating status of the speed-position control switch mode X102E Upper limit signal X103E X102F Lower limit signal X103F Use prohibited 7 (5) Output signal list Output signal (CPU module QD73A1) Output signal (CPU module QD73A1) Device No. Signal name Device No. Signal name Y1020 Y1030 OPR start signal Y1021 Y1031 Absolute positioning start signal Y1022 Y1032 Forward start signal Y1023 Y1033 Reverse start signal Y1024 Y1034 Forward JOG start signal Use prohibited Y1025 Y1035 Reverse JOG start signal Y1026 Y1036 Speed-position mode restart signal Y1027 Y1037 Stop signal Y1028 Y1038 Error reset signal Y1029 Y1039 Overflow reset signal Y102A Zero/gain adjustment data writing request signal Y103A Underflow reset signal Y102B Zero/gain adjustment change request signal Y103B Use prohibited Y102C Set value change request signal Y103C Speed-position switching enable signal Y102D Y103D PLC READY signal Y102E Use prohibited Y103E Y102F Y103F Use prohibited 7.4 When Using the Module in a Remote I/O Network If a "Use prohibited" area is turned on/off through a sequence program, the QD73A1's function cannot be guaranteed. 147

150 (6) Interlock program of MELSECNET/H remote I/O network For programs introduced in Page 149, Section to Page 177, Section 7.4.7, make interlocks using data link status of the own station and the other station as shown below. Programs described in Page 149, Section 7.4.1, Page 177, Section (7) Program example Refer to the following. Program example Reference Parameter setting program Page 149, Section Near-point dog method OPR program Page 151, Section (1) Count method OPR program Page 154, Section (2) Positioning control program Page 157, Section (1) Two-phase trapezoidal positioning control program Page 159, Section (2) Speed-position control switch mode program Page 161, Section (3) Speed control operation program Page 164, Section (4) Fixed-feed operation program Page 167, Section JOG operation program Page 170, Section Current value change program Page 172, Section (1) Speed change program Page 174, Section (2) Deviation counter clearing program Page 176, Section (3) Stop program during positioning Page 177, Section

151 CHAPTER 7 PROGRAMMING Parameter setting program This program sets fixed parameters and variable parameters. Parameters described in this section can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program in this section is unnecessary when the parameters were set through GX Works2. (1) Program detail As X20 is turned on, the following fixed parameters are set. Item Setting detail Pr.1 Pr.2 Stroke limit upper limit Stroke limit lower limit pulse 0pulse Pr.3 Numerator of command pulse multiplication for electronic gear Pr.4 Denominator of command pulse multiplication for electronic gear As X21 is turned on, the following variable parameters are set. Item Setting detail Pr.5 Pr.6 Speed limit value Acceleration time 30000pulse 400ms Pr.7 Pr.8 Pr.9 Deceleration time 250ms In-position range 10pulse Positioning mode 0: Position control mode (2) Execution condition Check item WDT error, H/W error signal (X1020) I/O signal QD73A1 READY signal (X1021) PLC READY signal (Y103D) (3) Device used by the user Device Description X20 Fixed parameter setting command X21 Variable parameter setting command D0 Stroke limit upper limit (lower 16 bits) D1 Stroke limit upper limit (upper 16 bits) D2 Stroke limit lower limit (lower 16 bits) D3 Stroke limit lower limit (upper 16 bits) D4 Numerator of command pulse multiplication for electronic gear D5 Denominator of command pulse multiplication for electronic gear D10 Speed limit value (lower 16 bits) Condition 7.4 When Using the Module in a Remote I/O Network Parameter setting program 149

152 D11 D12 D13 D14 D15 M1 M2 M200 M201 M202 M203 Device Speed limit value (upper 16 bits) Acceleration time Deceleration time In-position range Positioning mode Fixed parameter setting memory Variable parameter setting memory Z(P).REMTO instruction completion Z(P).REMTO instruction failure Z(P).REMTO instruction completion Z(P).REMTO instruction failure Description (4) Program example Command fixed parameter settings. Stroke limit upper limit ( pulse) Stroke limit lower limit (0pulse) Numerator of command pulse multiplication for electronic gear (1) Denominator of command pulse multiplication for electronic gear (1) Completes the fixed parameter settings. Set fixed parameters to the QD73A1. Command variable parameter settings. Speed limit value (30000pulse) Acceleration time (400ms) Deceleration time (250ms) In-position range (10pulse) Positioning mode (Position control mode) Set variable parameters to the QD73A1. Completes the variable parameter settings. 150

153 CHAPTER 7 PROGRAMMING OPR program Programs in this section execute OPR in the near-point dog method or the count method. (1) Near-point dog method OPR program This program executes OPR in the near-point dog method. Suppose that fixed parameters and variable parameters are already set. ( Page 149, Section 7.4.1) (a) Program detail As X22 is turned on, the following OPR parameters are written and PLC READY signal (Y103D) turns on. Pr.10 Pr.11 Pr.12 OP address OPR speed Creep speed Item 100pulse 5000pulse/s 500pulse/s Setting detail As X23 is turned on after PLC READY signal (Y103D) turned on, the module executes OPR. (b) Switch setting Before executing the program, set "Near-point dog method" to "OPR method setting". 7 Project window [Intelligent Function Module] [QD73A1] [Switch Setting] 7.4 When Using the Module in a Remote I/O Network OPR program 151

154 (c) Execution condition Check item Servo READY signal (READY) Stop signal (STOP) External I/O signal Upper limit signal (FLS) Lower limit signal (RLS) Near-point dog signal (DOG) WDT error, H/W error signal (X1020) QD73A1 READY signal (X1021) OPR complete signal (X1023) BUSY signal (X1024) Excessive error signal (X1027) I/O signal Error detection signal (X1028) OPR start complete signal (X1030) Synchronization flag (X1034) OPR start signal (Y1030) Stop signal (Y1037) PLC READY signal (Y103D) Buffer memory OPR parameters No error Condition (d) Device used by the user X22 X23 D20 D21 D22 D23 D24 D25 M3 M6 M7 M210 M211 Device OPR parameter setting command OPR command OP address (lower 16 bits) OP address (upper 16 bits) OPR speed (lower 16 bits) OPR speed (upper 16 bits) Creep speed (lower 16 bits) Creep speed (upper 16 bits) OPR parameter writing OPR parameter setting memory OPR command pulse Z(P).REMTO instruction completion Z(P).REMTO instruction failure Description 152

155 CHAPTER 7 PROGRAMMING (e) Program example *1 Command OPR parameter settings. OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Completes the OPR parameter settings. Command to turn on PLC READY signal. Set OPR parameters to the QD73A1. Turn on/off PLC READY signal. Command OPR. Turn on OPR start signal. 7 Turn off OPR start signal. *1 OPR parameters can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program that sets OPR parameters is unnecessary when the parameters were set through GX Works When Using the Module in a Remote I/O Network OPR program 153

156 (2) Count method OPR program This program executes OPR in the count method. Suppose that fixed parameters and variable parameters are already set. ( Page 149, Section 7.4.1) (a) Program detail As X22 is turned on, the following OPR parameters are written and PLC READY signal (Y103D) turns on. Item Setting detail Pr.10 Pr.11 Pr.12 OP address OPR speed Creep speed 100pulse 5000pulse/s 500pulse/s Pr.13 dog Setting for the movement amount after near-point 2000pulse As X24 is turned on after PLC READY signal (Y103D) turned on, the module executes OPR. (b) Switch setting Before executing the program, set "Count method" to "OPR method setting". Project window [Intelligent Function Module] [QD73A1] [Switch Setting] 154

157 CHAPTER 7 PROGRAMMING (c) Execution condition Check item Servo READY signal (READY) External I/O signal Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) WDT error, H/W error signal (X1020) QD73A1 READY signal (X1021) BUSY signal (X1024) Excessive error signal (X1027) I/O signal Error detection signal (X1028) OPR start complete signal (X1030) Synchronization flag (X1034) OPR start signal (Y1030) Stop signal (Y1037) PLC READY signal (Y103D) Buffer memory OPR parameters No error Condition (d) Device used by the user 7 X22 X24 D20 D21 D22 D23 D24 D25 D26 D27 M3 M6 M7 M210 M211 Device Description OPR parameter setting command OPR command OP address (lower 16 bits) OP address (upper 16 bits) OPR speed (lower 16 bits) OPR speed (upper 16 bits) Creep speed (lower 16 bits) Creep speed (upper 16 bits) Movement amount after near-point dog (lower 16 bits) Movement amount after near-point dog (upper 16 bits) OPR parameter writing OPR parameter setting memory OPR command pulse Z(P).REMTO instruction completion Z(P).REMTO instruction failure 7.4 When Using the Module in a Remote I/O Network OPR program 155

158 (e) Program example *1 Command OPR parameter settings. OP address (100pulse) OPR speed (5000pulse/s) Creep speed (500pulse/s) Movement amount after near-point dog (2000pulse) Completes the OPR parameter settings. Command to turn on PLC READY signal. Set OPR parameters to the QD73A1. Turn on/off PLC READY signal. Command OPR. Turn on OPR start signal. Turn off OPR start signal. *1 OPR parameters can be set through GX Works2 also. ( Page 108, Section 6.3) The sequence program that sets OPR parameters is unnecessary when the parameters were set through GX Works2. 156

159 CHAPTER 7 PROGRAMMING Major positioning control program Programs in this section execute major positioning control. (1) Positioning control program This program executes positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2) (a) Program detail As X25 is turned on, the following positioning data are written. Item Setting detail Da.1 Da.2 Da.3 Positioning pattern Positioning address P1 Positioning speed V1 0: Positioning control pulse 10000pulse/s As X26 is turned on, the module executes positioning control in the absolute system. (b) Execution condition Check item Condition Note Servo READY signal (READY) External I/O Stop signal (STOP) signal Upper limit signal (FLS) Lower limit signal (RLS) WDT error, H/W error signal (X1020) QD73A1 READY signal (X1021) BUSY signal (X1024) Excessive error signal (X1027) Error detection signal (X1028) I/O signal Absolute positioning start complete signal (X1031) Synchronization flag (X1034) Absolute positioning start signal (Y1031) Stop signal (Y1037) PLC READY signal (Y103D) When the positioning speed is set Buffer memory Positioning data No error exceeding " Speed limit value", the positioning is executed at " Pr.5 Pr.5 Speed limit value" When Using the Module in a Remote I/O Network Major positioning control program 157

160 (c) Device used by the user X25 X26 D31 D32 D33 D34 D35 M10 M40 M220 M221 Device Positioning data write command Positioning start command Positioning pattern Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Positioning data writing Positioning start command pulse Z(P).REMTO instruction completion Z(P).REMTO instruction failure Description (d) Program example *1 Command to write positioning data. Positioning pattern (Positioning control) Positioning address P1 (100000pulse) Positioning speed V1 (10000pulse/s) Completes writing the positioning data. Set positioning data to the QD73A1. Command the positioning start. Turn on Absolute positioning start signal. Turn off Absolute positioning start signal. *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data is unnecessary when the data were set through GX Works2. 158

161 CHAPTER 7 PROGRAMMING (2) Two-phase trapezoidal positioning control program This program executes two-phase trapezoidal positioning control in the absolute system. Suppose that the parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2) (a) Program detail As X27 is turned on, the following positioning data are written. Da.1 Da.2 Da.3 Da.4 Da.5 Item Positioning pattern Positioning address P1 Positioning speed V1 Positioning address P2 Positioning speed V2 Setting detail 1: Two-phase trapezoidal positioning control pulse 10000pulse/s pulse 12000pulse/s As X28 is turned on, the module executes two-phase trapezoidal positioning control in the absolute system. (b) Execution condition The execution condition is the same as that of positioning control program. ( Page 157, Section (1) (b)) 7 (c) Device used by the user X27 X28 D31 D32 D33 D34 D35 D36 D37 D38 D39 M15 M45 M230 M231 Device Description Positioning data write command Two-phase trapezoidal positioning control start command Positioning pattern Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Positioning address P2 (lower 16 bits) Positioning address P2 (upper 16 bits) Positioning speed V2 (lower 16 bits) Positioning speed V2 (upper 16 bits) Positioning data writing Two-phase trapezoidal positioning control start command pulse Z(P).REMTO instruction completion Z(P).REMTO instruction failure 7.4 When Using the Module in a Remote I/O Network Major positioning control program 159

162 (d) Program example *1 Command to write positioning data. Positioning pattern (Two-phase trapezoidal positioning control) Positioning address P1 (100000pulse) Positioning speed V1 (10000pulse/s) Positioning address P2 (150000pulse) Positioning speed V2 (12000pulse/s) Completes writing the positioning data. Set positioning data to the QD73A1. Command the positioning start. Turn on Absolute positioning start signal. Turn off Absolute positioning start signal. *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data is unnecessary when the data were set through GX Works2. 160

163 CHAPTER 7 PROGRAMMING (3) Speed-position control switch mode program This program switches the positioning mode to the "speed-position control switch mode". Suppose that the parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2) (a) Program detail As X29 is turned on, the positioning mode is set to "speed-position control switch mode". As X2A is turned on, the following positioning data are written. Item Setting detail Da.2 Da.3 Positioning address P1 Positioning speed V1 5000pulse 1000pulse/s As X2B is turned on, the module starts speed control. The module switches the operation to position control following an external control switch command. As X2D is turned on, the module restarts operation in case that the operation was stopped following a stop signal input. (b) Execution condition Check item Condition Note Servo READY signal (READY) External I/O Stop signal (STOP) signal Upper limit signal (FLS) Lower limit signal (RLS) QD73A1 READY signal (X1021) BUSY signal (X1024) Excessive error signal (X1027) Error detection signal (X1028) Forward start complete signal (X1032) Synchronization flag (X1034) I/O signal Forward start signal (Y1032) Reverse start signal (Y1033) Speed-position mode restart signal (Y1036) Stop signal (Y1037) Speed-position switching enable signal (Y103C) PLC READY signal (Y103D) When the positioning speed is set Buffer memory Positioning data No error exceeding " Speed limit value", the positioning is executed at " Pr.5 Pr.5 Speed limit value" When Using the Module in a Remote I/O Network Major positioning control program 161

164 (c) Device used by the user X29 X2A X2B X2D D40 D42 D43 D44 D45 M20 M21 M50 M52 M240 M241 M242 M243 Device Description Variable parameter change command Positioning data write command Speed-position control positioning start command Speed-position control positioning restart command Positioning mode Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Variable parameter change Positioning data writing Speed-position control positioning start command pulse Speed-position control positioning restart command pulse Z(P).REMTO instruction completion Z(P).REMTO instruction failure Z(P).REMTO instruction completion Z(P).REMTO instruction failure 162

165 CHAPTER 7 PROGRAMMING (d) Program example *1 Command to change variable parameters. Positioning mode (Speed-position control switch mode) Completes changing the variable parameters. Set variable parameters to the QD73A1. Command to change positioning data. Positioning address P1 (5000pulse) Positioning speed V1 (1000pulse/s) Completes changing the positioning data. Set positioning data to the QD73A1. 7 Command the start of the speed-position control switch mode. Turn on Forward start signal. Turn on Speed-position switching enable signal. Command the restart of the speed-position control switch mode. Turn on Speed-position mode restart signal. Turn on Speed-position switching enable signal. Turn off Forward start signal. Turn off Speed-position mode restart signal. 7.4 When Using the Module in a Remote I/O Network Major positioning control program *1 Variable parameters and positioning data can be set through GX Works2 also. ( Page 108, Section 6.3, Page 109, Section 6.4) The sequence program that sets variable parameters and positioning data is unnecessary when the data were set through GX Works2. 163

166 (4) Speed control operation program This program executes speed control using the speed control function of the speed-position control switch mode. Suppose that parameters are already set. ( Page 149, Section 7.4.1) (a) Program detail As X2E is turned on, the positioning mode is set to "speed-position control switch mode". As X2F is turned on, the following positioning data is written. Item Setting detail Da.3 Positioning speed V1 1000pulse/s As X30 is turned on, the module starts speed control of forward run. As X31 is turned on, the module starts speed control of reverse run. (b) Execution condition Check item Condition Note External I/O signal I/O signal Servo READY signal (READY) Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) QD73A1 READY signal (X1021) BUSY signal (X1024) Excessive error signal (X1027) Error detection signal (X1028) Forward start complete signal (X1032) Reverse start complete signal (X1033) Synchronization flag (X1034) Forward start signal (Y1032) Reverse start signal (Y1033) Speed-position mode restart signal (Y1036) Stop signal (Y1037) Speed-position switching enable signal (Y103C) PLC READY signal (Y103D) Buffer memory Positioning data No error When the positioning speed is set exceeding " Speed limit value", the positioning is executed at " Pr.5 Pr.5 Speed limit value". 164

167 CHAPTER 7 PROGRAMMING (c) Device used by the user X2E X2F X30 X31 D46 D48 D49 M25 M26 M30 M250 M251 M252 M253 Device Variable parameter change command Positioning data write command Forward run command Reverse run command Positioning mode Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) Variable parameter change Positioning data writing Speed control command pulse Z(P).REMTO instruction completion Z(P).REMTO instruction failure Z(P).REMTO instruction completion Z(P).REMTO instruction failure Description When Using the Module in a Remote I/O Network Major positioning control program 165

168 (d) Program example *1 Command to change variable parameters. Turn off Speed-position switching enable signal. Positioning mode (Speed-position control switch mode) Set variable parameters to the QD73A1. Completes changing the variable parameters. Command to change positioning data. Positioning speed V1 (1000pulse/s) Completes changing the positioning data. Set positioning data to the QD73A1. Command speed control. Turn on Forward start signal. Turn on Reverse start signal. Turn off Forward start signal. Turn off Reverse start signal. *1 Variable parameters and positioning data can be set through GX Works2 also. ( Page 108, Section 6.3, Page 109, Section 6.4) The sequence program that sets variable parameters and positioning data is unnecessary when the data were set through GX Works2. 166

169 CHAPTER 7 PROGRAMMING Fixed-feed operation program This program executes positioning in the address increasing direction according to the specified movement amount and speed. Execute fixed-feed operation by turning on Fixed-feed start command repeatedly. Use the current value change function and positioning start in the absolute system. Suppose that parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2) (1) Program detail As X32 is turned on, the following positioning data are written. Item Setting detail Da.2 Da.3 Positioning address P1 Positioning speed V pulse 1000pulse/s As X33 is turned on, the module starts fixed-feed operation. (2) Execution condition Check item Condition Note Servo READY signal (READY) External I/O Stop signal (STOP) signal Upper limit signal (FLS) Lower limit signal (RLS) QD73A1 READY signal (X1021) BUSY signal (X1024) Excessive error signal (X1027) Error detection signal (X1028) I/O signal Absolute positioning start complete signal (X1031) Synchronization flag (X1034) Absolute positioning start signal (Y1031) Stop signal (Y1037) PLC READY signal (Y103D) When the positioning speed is set Buffer memory Positioning data No error exceeding " Speed limit value", the positioning is executed at " Pr.5 Pr.5 Speed limit value" When Using the Module in a Remote I/O Network Fixed-feed operation program 167

170 (3) Device used by the user X32 X33 D50 D51 D52 D53 D100 D101 D104 D106 M35 M55 M56 M260 M261 M262 M263 M264 M265 M266 M267 Device Description Fixed-feed positioning data write command Fixed-feed start command Positioning address P1 (lower 16 bits) Positioning address P1 (upper 16 bits) Positioning speed V1 (lower 16 bits) Positioning speed V1 (upper 16 bits) New current value (lower 16 bits) New current value (upper 16 bits) Current value change request Current value change result check Variable parameter change Fixed-feed positioning data write command pulse Current value change result reading Z(P).REMTO instruction completion Z(P).REMTO instruction failure Z(P).REMTO instruction completion Z(P).REMTO instruction failure Z(P).REMTO instruction completion Z(P).REMTO instruction failure Z(P).REMFR instruction completion Z(P).REMFR instruction failure 168

171 CHAPTER 7 PROGRAMMING (4) Program example *1 Command to change positioning data. Positioning address P1 (20000pulse) Positioning speed V1 (1000pulse/s) Set positioning data to the QD73A1. Completes changing the positioning data. Command the fixed-feed positioning start. New current value (0pulse) Command a current value change. Reset the current value change. 7 Completes setting a current value. Set a new current value to the QD73A1. Request a current value change to the QD73A1. Read the current value change from the QD73A1. Completes checking the current value change. Command to check the current value change again when it is incomplete. Turn on Absolute positioning start signal. Turn off Absolute positioning start signal. *1 Positioning data can be set through GX Works2 also. ( Page 109, Section 6.4) The sequence program that sets positioning data is unnecessary when the data were set through GX Works When Using the Module in a Remote I/O Network Fixed-feed operation program 169

172 7.4.5 JOG operation program This program executes JOG operation while a JOG start command is on. Suppose that parameters are already set. ( Page 149, Section 7.4.1) (1) Program detail As X34 is turned on, JOG speed is written. Item Setting detail Cd.3 JOG speed 10000pulse/s As X35 is turned on, the module executes forward JOG operation. As X36 is turned on, the module executes reverse JOG operation. (2) Execution condition Check item Condition Note Servo READY signal (READY) External I/O signal Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) QD73A1 READY signal (X1021) BUSY signal (X1024) External stop signal (X102D) I/O signal Synchronization flag (X1034) Forward JOG start signal (Y1034) Reverse JOG start signal (Y1035) Stop signal (Y1037) PLC READY signal (Y103D) Buffer memory JOG speed No error Cd.3 When " Cd.3 exceeding " JOG speed" is set Pr.5 Speed limit value", the operation is executed at " Pr.5 Speed limit value". (3) Device used by the user Device Description X34 JOG speed write command X35 Forward JOG command X36 Reverse JOG command D55 JOG speed (lower 16 bits) D56 JOG speed (upper 16 bits) M60 JOG speed writing M61 JOG command M270 Z(P).REMTO instruction completion M271 Z(P).REMTO instruction failure 170

173 CHAPTER 7 PROGRAMMING (4) Program example Command a JOG speed setting. JOG speed (10000pulse/s) Completes the JOG speed setting. Set JOG speed data to the QD73A1. Turn on JOG command. Turn on/off Forward JOG start signal. Turn on/off Reverse JOG start signal. Turn off JOG command When Using the Module in a Remote I/O Network JOG operation program 171

174 7.4.6 Control change program (1) Current value change program This program changes the current value to "0". (a) Program detail As X37 is turned on, the current value is changed. Item Setting detail Cd.1 New current value 0pulse (b) Execution condition I/O signal Check item Condition Note WDT error, H/W error signal (X1020) BUSY signal (X1024) Error detection signal (X1028) Synchronization flag (X1034) (c) Device used by the user X37 D100 D101 D104 D106 M70 M71 M280 M281 M282 M283 M284 M285 Device Current value change command New current value (lower 16 bits) New current value (upper 16 bits) Current value change request Current value change result check Variable parameter change Positioning data change Z(P).REMTO instruction completion Z(P).REMTO instruction failure Z(P).REMTO instruction completion Z(P).REMTO instruction failure Z(P).REMFR instruction completion Z(P).REMFR instruction failure Description 172

175 CHAPTER 7 PROGRAMMING (d) Program example Command a current value change. New current value (0pulse) Set a new current value to the QD73A1. Current value change Completes the current value change. Command to check the current value change. Request a current value change to the QD73A1. Read the current value change from the QD73A1. Completes checking the current value change. Command to check the current value change again when it is incomplete When Using the Module in a Remote I/O Network Control change program 173

176 (2) Speed change program This program changes positioning speed. (a) Program detail As X38 is turned on, positioning speed is changed. Item Setting detail Cd.2 New speed value 50000pulse/s (b) Execution condition Check item Condition Note Servo READY signal (READY) External I/O signal Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) WDT error, H/W error signal (X1020) QD73A1 READY signal (X1021) BUSY signal (X1024) I/O signal Excessive error signal (X1027) Error detection signal (X1028) Synchronization flag (X1034) Stop signal (Y1037) PLC READY signal (Y103D) Buffer memory New speed value No error Cd.2 When " Cd.2 set exceeding " New speed value" is Pr.5 Speed limit value", the operation is executed at " Pr.5 Speed limit value". (c) Device used by the user Device Description X38 Speed change command D102 New speed value (lower 16 bits) D103 New speed value (upper 16 bits) D105 Speed change request D107 Speed change result check M75 Speed change M76 Speed change request check M290 Z(P).REMTO instruction completion M291 Z(P).REMTO instruction failure M292 Z(P).REMTO instruction completion M293 Z(P).REMTO instruction failure M294 Z(P).REMFR instruction completion M295 Z(P).REMFR instruction failure 174

177 CHAPTER 7 PROGRAMMING (d) Program example Command a speed change. New speed value (50000pulse/s) Set a new speed value to the QD73A1. Speed change Completes the speed change. Command to check the speed change. Request a speed change to the QD73A1. Read the speed change from the QD73A1. Completes checking the speed change. Command to check the speed change again when it is incomplete When Using the Module in a Remote I/O Network Control change program 175

178 (3) Deviation counter clearing program This program clears the deviation counter to 0. (a) Program detail As X39 is turned on, the deviation counter is cleared to 0. Cd.4 Item Deviation counter clear command 1: Clear the deviation counter Setting detail (b) Execution condition I/O signal Check item Condition Note WDT error, H/W error signal (X1020) BUSY signal (X1024) Error detection signal (X1028) Synchronization flag (X1034) (c) Device used by the user X39 D110 D111 M80 M81 M300 M301 M302 M303 Device Description Deviation counter clear command Deviation counter clear request Deviation counter clearing result check Deviation counter clear Deviation counter clearing completion check Z(P).REMTO instruction completion Z(P).REMTO instruction failure Z(P).REMFR instruction completion Z(P).REMFR instruction failure (d) Program example Command deviation counter clear. Deviation counter clear command Command deviation counter clear to the QD73A1. Completes the deviation counter clear command. Command to check the deviation counter clear. Read the completion of deviation counter clear from the QD73A1. Completes reading the deviation counter clear. Command to check the deviation counter clear again when it is incomplete. 176

179 CHAPTER 7 PROGRAMMING Stop program during positioning This program stops the positioning in execution. (a) Program detail As X3A is turned on, the module stops the positioning in execution. (b) Device used by the user X3A Device Stop command Description (c) Program example Turn on Stop signal. Turn off Stop signal When Using the Module in a Remote I/O Network Stop program during positioning 177

180 CHAPTER 8 OPR CTROL This chapter describes OPR control. 8.1 Overview of OPR Control In "OPR control", a starting point (or OP) of major positioning control is set, and positioning is executed toward the original point. Use this control to return a machine system at a position other than its OP to the OP when the QD73A1 turned on OPR request signal (X12) at power-on, or after a positioning stop. OPR request signal (X12) turns on at the following timings. When the power is turned on When the CPU module was reset When OPR starts When Servo READY signal (READY) turns off while BUSY signal (X14) is on When Servo READY signal (READY) turns off while BUSY signal (X14) is off (only when "0: Clear the deviation counter when the servo ready signal is." is selected for "Deviation counter clear setting" in the switch setting) (1) OPR method The QD73A1 has two OPR methods so that an OP can be established in the optimum method (determination of the OP position, or OPR completion) depending on the positioning system configuration or the application. Set an OPR method in the switch setting. For the setting method, refer to the following. Page 100, Section 6.2 OPR method Operation detail Reference As the near-point dog turns on, deceleration starts. (The speed decelerates Near-point dog method Count method to " Pr.12 Creep speed".) After the near-point dog turned off, the OPR is completed at the operation stop with the first Zero signal *1, specifying the position as the OP. As the near-point dog turns on, deceleration starts and the machine moves at " Pr.12 Creep speed". From the position where the near-point dog turned on, the machine moves the distance set in " Pr.13 Setting for the movement amount after near-point dog ". Then, the OPR is completed at the operation stop with the first Zero signal *1. Page 179, Section 8.2 Page 181, Section 8.3 *1 Signal that is output as a single pulse at one motor revolution (e.g. Z-phase signal output from the drive unit) (2) External I/O signals used for OPR control Signal required for control : Necessary : Necessary as required OPR method Near-point dog signal (DOG) Zero signal Upper limit signal (FLS)/Lower limit signal (RLS) Near-point dog method Count method 178

181 CHAPTER 8 OPR CTROL 8.2 Near-point Dog Method This section describes the operation overview of an OPR method, "near-point dog method". (1) Operation chart OPR starts. 1 (Acceleration starts in the direction set on "OPR direction setting" in the switch setting, and the machine moves at " Pr.11 OPR speed".) 2 As the near-point dog turns on, deceleration starts. The machine decelerates to " Pr.12 Creep speed", and subsequently moves at the creep speed. 3 (The near-point dog must be on during the deceleration. If the near-point dog turns off during the deceleration, the OPR is completed at the first Zero signal input after the near-point dog.) 4 Output from the QD73A1 stops at the first Zero signal after the near-point dog. 5 Returning operation is executed by the coasting amount after Zero signal input, then OPR complete signal (X13) turns on and OPR request signal (X12) turns off. As in the following figure, after the near-point dog turned off, the position of the first Zero signal from the pulse generator becomes the OP. v Pr.11 OPR speed Deceleration at the near-point dog 2 Pr.12 4 Creep speed 8 OPR start signal (Y20) 1 Near-point dog Zero signal 3 5 One servomotor rotation t Returning operation is executed by the coasting amount after Zero signal input, and the OPR is completed. Movement amount after near-point dog *1 Adjust the position where the near-point dog turns off so that it is closer to the center of Zero signals. If the position overlaps with Zero signal, the OPR stop position may deviate by one servomotor rotation. 8.2 Near-point Dog Method OPR request signal (X12) BUSY signal (X14) OPR complete signal (X13) In-position signal (X16) Positioning complete signal (X15) Md.6 Movement amount after near-point dog Md.22 Movement amount after near-point dog (absolute value) Md.1 Current feed value Inconsistent 0 Inconsistent (Updated according to the movement) 0 Value of *1 OP address Executed by the QD73A1 179

182 (2) Precautions during operation (a) Another OPR after the completion of OPR If another OPR is attempted after the completion of OPR, the error "OPR complete signal at start" (error code: 84) occurs. (b) Positions of the near-point dog and Zero signal If the position where the near-point dog turns off is close to Zero signal, the Zero signal may be misread, resulting in deviation of OP by one servomotor rotation. Adjust the position where the near-point dog turns off so that it becomes closer to the center of Zero signals. (c) OPR start from the near-point dog position If an OPR start is attempted from the near-point dog position, the error "Near-point dog signal at start" (error code: 74) occurs. Return the workpiece to a position away from the near-point dog using JOG operation, then execute OPR. (d) Another OPR after the reset of the CPU module If the CPU module was reset after OPR control was completed and the near-point dog turned off, another OPR can be started; however, the operation is executed at " OPR speed" to the position of the upper limit switch (FLS) or the lower limit switch (RLS) since there is no near-point dog placed in the OPR direction. (e) Outside the stroke limit range If the workpiece moved outside the stroke limit range, the error "Outside the stroke limit range" (error code: 100) occurs; although, the operation continues. In this case, the OPR is completed normally if the near-point dog is placed on the OPR direction. Pr

183 CHAPTER 8 OPR CTROL 8.3 Count Method This section describes the operation overview of an OPR method, "count method". OPR in the count method can be executed also in case of the following. OPR on the near-point dog Another OPR after completion of OPR (1) Operation chart OPR starts. 1 (Acceleration starts in the direction set on "OPR direction setting" in the switch setting, and the machine moves at " Pr.11 OPR speed".) 2 As the near-point dog turns on, deceleration starts. 3 The machine decelerates to " Pr.12 Creep speed", and subsequently moves at the creep speed. 4 5 Output from the QD73A1 stops at the first Zero signal after the machine moved by the amount set in " for the movement amount after near-point dog ". Setting Returning operation is executed by the coasting amount after Zero signal input, then OPR complete signal (X13) turns on and OPR request signal (X12) turns off. Pr.13 As in the following figure, after the machine moved the amount set in " Setting for the movement amount after near-point dog ", the position of the first Zero signal from the pulse generator becomes the OP. Pr.13 OPR start signal (Y20) OPR request signal (X12) BUSY signal (X14) v OPR complete signal (X13) In-position signal (X16) Positioning complete signal (X15) Md.6 Movement amount after near-point dog Md.22 Movement amount after near-point dog (absolute value) Md.1 Current feed value 1 Inconsistent 0 Inconsistent Pr.11 OPR speed Near-point dog Zero signal Executed by the QD73A1 2 3 Deceleration at the near-point dog One servomotor rotation (Updated according to the movement) Pr.12 Creep speed Pr.13 Setting for the movement amount after near-point dog 4 5 t Returning operation is executed by the coasting amount after Zero signal input, and the OPR is completed. 0 Value of *1 Movement amount after near-point dog *1 Adjust Pr.13 Setting for the movement amount after near-point dog so that it is closer to the center of Zero signals. If it overlaps with Zero signal, the OPR stop position may deviate by one servomotor rotation. OP address Count Method 181

184 (2) Precautions during operation (a) Pr.13 Setting for the movement amount after near-point dog If " Pr.13 Setting for the movement amount after near-point dog " is smaller than the deceleration distance from " Pr.11 OPR speed" to " Pr.12 Creep speed", the error "Setting for the movement amount after near-point dog Outside the setting range" (error code: 22) occurs, and the OPR does not start. In addition, if the position after the move according to " Setting for the movement amount after near-point dog " is close to Zero signal, the Zero signal may be misread, resulting in deviation of OP by one servomotor rotation. Set " Pr.13 Pr.13 after the move becomes closer to the center of Zero signals. (b) OPR start while near-point dog is on The operation is as follows. Setting for the movement amount after near-point dog " so that the position 1 OPR starts. 4 Pr.13 Setting for the movement amount after near-point dog 5 2 The workpiece moves in the direction that is opposite from the specified OPR direction at " Pr.11 OPR speed". 3 As the near-point dog turns off, deceleration starts. Near-point dog Zero signal After an operation stop, OPR starts in the specified OPR direction. As the near-point dog turns on, the workpiece moves the amount set in " Pr.13 Setting for the movement amount after near-point dog ". Then, the OPR is completed at the first Zero signal after the move. (c) Outside the stroke limit range If the workpiece moved outside the stroke limit range, the error "Outside the stroke limit range" (error code: 100) occurs; although, the operation continues. In this case, the OPR is completed normally if the near-point dog is placed on the OPR direction. 182

185 CHAPTER 8 OPR CTROL 8.4 Operation Timing and Processing Time of OPR Control This section explains the operation timing and processing time of OPR control. v OPR control *1 t t1 t2 OPR start signal (Y20) BUSY signal (X14) OPR start complete signal (X20) OPR request signal (X12) OPR complete signal (X13) t3 *1 This is an indication of internal commands, and does not match with the actual analog output waveform. The following values apply to t1 to t3. t1 t2 t3 0.7 to 1.2ms 0 to 0.5ms 0 to 0.5ms Operation Timing and Processing Time of OPR Control 183

186 8.5 OPR Parameter Setting For the QD73A1 to execute OPR, OPR parameters must be set. If the data are not set, default values are used for control. The default values are set also when the power was turned off and on, or when the CPU module was reset. The following table lists the OPR parameters to be set, setting condition, and check timing. Buffer Setting item Setting range Default value Setting condition Check timing of the set data memory address (decimal) Pr.10 OP address to pulse 0 pulse Pr.11 OPR speed 1 to pulse/s 10000pulse/s Pr.12 Pr.13 Creep speed 1 to pulse/s 1000pulse/s Setting for the movement amount 0 to after near-point dog pulse (set only for the 75 pulse count method) PLC READY signal (Y2D) must be off. When OPR start signal (Y20) is turned on

187 CHAPTER 9 MAJOR POSITIING CTROL CHAPTER 9 MAJOR POSITIING CTROL 9 "Major positioning control" is executed using "variable parameters" and "positioning data" stored in the QD73A1. The position control mode or the speed-position control switch mode is executed by setting a variable parameter " Pr.9 Positioning mode" and a positioning data item " Da.1 Positioning pattern" and by starting the positioning data. 9.1 Overview of Major Positioning Control The following types of "major positioning control" are executed when a positioning start signal (Y21 to Y23) is turned on. Major positioning control Start signal Description Reference Positioning is executed from the current position to a specified position at a specified Positioning control speed. [Buffer memory setting] Pr.9 Positioning mode: 0 Page 191, Section (1) Absolute positioning start Da.1 Positioning pattern: 0 Position control mode Two-phase trapezoidal positioning control Speed-position control switch mode signal (Y21) Forward start signal (Y22) (incremental positioning) Reverse start signal (Y23) (incremental positioning) Forward start signal (Y22) (Speed-position control switchover) Reverse start signal (Y23) (Speed-position control switchover) Positioning is executed to the address specified with " Da.2 Positioning address P1" at " Da.3 Positioning speed V1", then to the address specified with " Da.4 Positioning address P2" at " Da.5 Positioning speed V2" by one positioning start signal. [Buffer memory setting] Pr.9 Positioning mode: 0 Da.1 Positioning pattern: 1 Operation starts according to the positioning speed set beforehand by one positioning start signal, then the operation switches to position control by Speed-position switching command signal (CHANGE). If the operation stopped by Stop signal after the input of Speed-position switching command signal (CHANGE), the positioning can be continued by requesting a restart. In addition, the positioning address (movement amount) can be changed if it is before the input of Speed-position switching command signal (CHANGE). [Buffer memory setting] Page 192, Section (2) Page 195, Section Overview of Major Positioning Control Pr.9 Positioning mode: 1 Da.1 Positioning pattern: 0 185

188 9.2 Data Required for Major Positioning Control This section describes "positioning data" required for "major positioning control". (1) Composition of positioning data and setting details Da.1 Da.2 Da.3 Da.4 Da.5 Positioning data Positioning pattern Positioning address P1 Positioning speed V1 Positioning address P2 Positioning speed V2 Setting detail Select a control pattern of major positioning from "positioning control" or "two-phase trapezoidal positioning control". Set the address that is the destination of major positioning control. Set the command speed of major positioning control. In two-phase trapezoidal positioning control, set the destination address of after the move to the address set to " Da.2 Positioning address P1". In two-phase trapezoidal positioning control, set the command speed to move to the address set to " Da.4 Positioning address P2". The settings of Da.1 to Da.5 depend on " Pr.9 Positioning mode" and " Da.1 Positioning pattern". ( Page 187, Section 9.3) (2) Sub functions for major positioning control For details on "sub functions" that can be combined with major positioning control, refer to the following. Page 29, Section 3.3 (4) For details on each sub function, refer to the following. Page 208, CHAPTER

189 CHAPTER 9 MAJOR POSITIING CTROL 9.3 Relation Between Each Control and Positioning Data 9 Setting items and details of positioning data depend on the settings of a positioning data item " pattern" and a variable parameter " Pr.9 Positioning mode". The following table shows the positioning data setting items for each type of control. Da.1 Positioning Positioning data Settings of " 0: Position control mode Pr.9 Positioning mode" 1: Speed-position control switch mode Da.1 Positioning pattern 0: Positioning control 1: Two-phase trapezoidal positioning control Da.2 Da.3 Da.4 Da.5 Positioning address P1 Positioning speed V1 Positioning address P2 Positioning speed V2 : Set always : Set only for two-phase trapezoidal positioning control : Setting not required (The setting is ignored. Use the default value or a value that does not cause an error.) For details on each control and setting, refer to the following. Page 190, Section Relation Between Each Control and Positioning Data 187

190 9.4 Specifying a Positioning Address This section describes systems to specify a position for control using positioning data. (1) Absolute system Positioning is executed using the current address as the start address and the address set with " Da.2 Positioning address P1" as the end address. Address 100 Address 150 Address 100 Address 300 Start point End point Address 150 Address 100 Address 150 OP (Reference point) A point B point C point Within the stroke limit range (2) Incremental system Positioning is executed from the current address (start address) by the movement amount set in " Da.2 Positioning address P1". The moving direction depends on the start signal to turn on: Forward start signal (Y22) or Reverse start signal (Y23). Movement amount +100 Movement amount +100 Movement amount -150 Movement amount -100 Movement amount +100 Movement amount -100 Movement amount +50 Start point End point OP (Reference point) 100 A point 150 B point 300 C point Within the stroke limit range 188

191 CHAPTER 9 MAJOR POSITIING CTROL 9.5 Checking the Current Value 9 In the QD73A1, two types of address are used to indicate position. (1) Addresses to be used The two types of address, "current feed value" and "actual current value", are stored to the monitor data area. They can be monitored when necessary. Item Description Update cycle Current feed value Actual current value This is the value stored in " Current feed value". The address established through OPR is the value of reference. The address can be changed through a current value change. This is the value stored in " Md.1 Md.2 Actual current value". The actual servomotor movement amount calculated based on feedback pulses is stored as an actual current value (the number of feedback pulses). (Actual current value = Current feed value - Accumulated pulses in the deviation counter) 0.5ms (2) Precaution When the value stored in " Md.1 Current feed value" or " Md.2 Actual current value" is used for control, the update timing of the buffer memory area may be in error by 0.5ms. 9.5 Checking the Current Value 189

192 9.6 Details of Major Positioning Control This section describes details on the position control mode (positioning control and two-phase trapezoidal positioning control) and the speed-position control switch mode. (1) Precautions (a) Dwell-time function The QD73A1 does not have the dwell-time function. When dwell-time is necessary, start the next operation using the timer in the sequence program once the specified period of time passed after Positioning complete signal (X15) turned on. (b) Combined use of incremental system and absolute system The QD73A1 controls the current value during positioning. If incremental system positioning or combined positioning of incremental system and absolute system is repeated, the workpiece may move outside the stroke limit range and an error may occur. If an error occurs, change the current value to the one within the stroke limit range. (2) Stop and restart during positioning Refer to the following. Page 230, CHAPTER

193 CHAPTER 9 MAJOR POSITIING CTROL Position control mode 9 In the position control mode, positioning is executed toward the positioning address specified with positioning data at the specified speed. There are two types of control in the position control mode. Positioning control ( Page 191, Section (1)) Two-phase trapezoidal positioning control ( Page 192, Section (2)) There are two systems to specify a positioning address: the absolute system in which a positioning end address is specified and the incremental system in which movement amount from a start address to an end address is specified. Specify the absolute system or the incremental system using one of the following start signals. Start signal Absolute positioning start signal (Y21) Forward start signal (Y22) Reverse start signal (Y23) Positioning system Positioning start in the absolute system Forward start in the incremental system (address increasing) Reverse start in the incremental system (address decreasing) (1) Positioning control Set a positioning address and positioning speed for this type of control. Absolute system positioning or incremental system positioning is executed by a positioning start command. (a) Operation of positioning control The operation is as follows. Positioning start signal (Y21 to Y23) BUSY signal (X14) Positioning complete signal (X15) v Da.2 Positioning address P1 Da.3 Positioning speed V1 t 9.6 Details of Major Positioning Control Position control mode Executed by the QD73A1 191

194 (b) Positioning data setting The following table lists the positioning data to be set, setting condition, and check timing. Buffer Setting item Setting range Default value Setting condition Check timing of the set data memory address (decimal) Da.1 Da.2 Da.3 Positioning pattern Positioning address P1 (movement amount for the incremental system) Positioning speed V1 0: Positioning control 1: Two-phase trapezoidal 0 positioning control Absolute system: to pulse 0pulse Incremental system: 0 to pulse 1 to pulse/s 0pulse/s The data can be set anytime. Note that the set data at the rise () of a positioning start signal (Y21 to Y23) are used for the operation. If the data are written when BUSY signal (X14) is on, the data will be accepted at the rise () of the next positioning start signal (Y21 to Y23). When a positioning start signal (Y21 to Y23) is turned on (2) Two-phase trapezoidal positioning control Set positioning addresses (P1 and P2) and positioning speed (V1 and V2) for this type of control. Positioning of the absolute system or the incremental system is executed first to the positioning address P1 at the positioning speed V1, then to the positioning address P2 at the positioning speed V2 by one positioning start command. (a) Operation of two-phase trapezoidal positioning control The operation is as follows. v Da.2 Positioning address P1 Da.4 Positioning address P2 Da.3 Positioning speed V1 Da.5 Positioning speed V2 t Positioning start signal (Y21 to Y23) BUSY signal (X14) Positioning complete signal (X15) Executed by the QD73A1 192

195 CHAPTER 9 MAJOR POSITIING CTROL (b) Deceleration distance If the movement amount from the positioning address P1 to the positioning address P2 is less than the deceleration distance from the positioning address P1, two-phase trapezoidal positioning control is not formed. In this case, the deceleration from the positioning speed V1 starts before the workpiece reaches the positioning address P1 so that the operation stops at the positioning address P2. 9 Da.3 Positioning speed V1 Da.3 Positioning speed V1 Da.5 Positioning speed V2 Da.5 Positioning speed V2 Deceleration stop fails. Da.2 Positioning address P1 Da.2 Positioning address P1 Da.4 Positioning address P2 Da.4 Positioning address P2 Deceleration distance from " Da.2 Positioning address P1" To execute two-phase trapezoidal positioning, set the positioning data so that the deceleration distance from the positioning address P1 does not exceed the movement amount from the positioning address P1 to the positioning address P2. (c) Two-phase trapezoidal positioning control in the absolute system To execute two-phase trapezoidal positioning control in the absolute system, the positioning direction from " Da.2 Positioning address P1" to " Da.4 Positioning address P2" and the positioning direction from the current value to " (d) Positioning speed V1 and V2 Positioning address P1" must be the same. If not, the error "Two-phase trapezoidal positioning address error" (error code: 31) occurs, and the two-phase trapezoidal positioning control does not start. Moving direction from the current value to Setting example the positioning address P1 Da.2 Da.2 Positioning address P1 Da.4 Positioning address Address increasing Address decreasing P2 direction direction Error Positioning executed Positioning executed Error 9.6 Details of Major Positioning Control Position control mode Any value within the setting range can be set in " Da.3 Positioning speed V1" and " Da.5 Positioning speed V2" regardless the relation between the two setting values. 193

196 (e) Positioning data setting The following table lists the positioning data to be set, setting condition, and check timing. Buffer Setting item Setting range Default value Setting condition Check timing of the set data memory address (decimal) 0: Positioning control Da.1 Positioning pattern 1: Two-phase trapezoidal positioning control Da.2 Da.3 Da.4 Positioning address P1 (movement amount for the incremental system) Positioning speed V1 Positioning address P2 (movement amount for the incremental system) Absolute system: to pulse 0pulse Incremental system: 0 to pulse 1 to pulse/s 0pulse/s Absolute system: to pulse 0pulse Incremental system: 0 to pulse The data can be set anytime. Note that the set data at the rise () of a positioning start signal (Y21 to Y23) are used for the operation. If the data are written when BUSY signal (X14) is on, the data will be accepted at the rise () of the next positioning start signal (Y21 to Y23). When a positioning start signal (Y21 to Y23) is turned on Da.5 Positioning speed V2 1 to pulse/s 0pulse/s

197 CHAPTER 9 MAJOR POSITIING CTROL Speed-position control switch mode 9 In the speed-position control switch mode, pulses that correspond to the specified positioning speed are output in the direction specified by a start signal. Then, once Speed-position switching command signal (CHANGE) is input, the operation switches to position control with the specified movement amount. The speed-position control switch mode operates with the incremental system in which movement amount from a start address to an end address is specified. Specify a forward start or a reverse start using one of the following signals. Start signal Forward start signal (Y22) Reverse start signal (Y23) Positioning system Forward start (address increasing) Reverse start (address decreasing) (1) Switchover from speed control to position control To switch the operation from speed control to position control, Speed-position switching enable signal (Y2C) must be turned on before inputting Speed-position switching command signal (CHANGE). If Speed-position switching command signal (CHANGE) is input when Speed-position switching enable signal (Y2C) is off, the speed control continues without being switched to position control. The operation switches to position control when Speed-position switching command signal (CHANGE) is input after Speed-position switching enable signal (Y2C) was turned on. (2) Operation of the speed-position control switch mode The operation is as follows. v Movement amount set to " Da.2 Positioning address P1" Positioning start signal (Y22, Y23) BUSY signal (X14) Speed control Position control Da.3 Positioning speed V1 t 9.6 Details of Major Positioning Control Speed-position control switch mode Positioning complete signal (X15) Speed-position switching enable signal (Y2C) Speed-position switching command signal (CHANGE) Md.1 Current feed value 0 0 P1 Executed by the QD73A1 195

198 (3) " Md.1 Current feed value" and " Md.2 Actual current value" In " Md.1 Current feed value" and " Md.2 Actual current value", 0 is set at the start of the speed-position control switch mode, and the settings are not updated during speed control. They are updated once the operation switched to position control by the input of Speed-position switching command signal (CHANGE). (4) Positioning error in the speed-position control switch mode In the speed-position control switch mode, operation switches to position control by an input of Speed-position switching command signal (CHANGE) during speed control. The process from the signal input to the completion of switchover to position control takes some time, resulting in a positioning error by pulses output during the process. The process time varies by approximately 2ms including the response delay of Speed-position switching command signal (CHANGE). v Movement amount set to " Da.2 Positioning address P1" Da.3 Positioning speed V1 t Speed-position switching command signal (CHANGE) Time takes to switch control Set movement amount Positioning error Switched to position control (5) " Da.2 Positioning address P1" Set " Da.2 Positioning address P1" so that its setting value becomes greater than the value of the distance obtained using the following formula. If not, the positioning stops exceeding the specified movement amount. Accumulated pulses at the switching command v Da.3 Positioning speed V1 Distance to decelerate from " Da.3 Positioning speed V1" Speed-position switching command t Da.2 Positioning address P1 (Accumulated pulses at the switching command) + (Distance to decelerate from Da.3 Positioning speed V1) Da.3 Positioning speed V1 = + Position loop gain 1 Actual deceleration time 2 Da.3 Positioning speed V1 (6) Two-phase trapezoidal positioning control and speed-position control switchover A speed-position control switchover cannot be performed in two-phase trapezoidal positioning control. 196

199 CHAPTER 9 MAJOR POSITIING CTROL 9 Input Speed-position switching command signal (CHANGE) at the area where the speed is stable (constant speed status). When a servomotor is used, the actual movement amount after the switchover to position control is "Set movement amount + Accumulated pulse amount". If the signal is input during acceleration or deceleration, the operation stop position varies due to the variation in the accumulated pulse amount. (7) Parameter and positioning data setting The following table lists the parameter and positioning data to be set, setting condition, and check timing. Set other parameters if necessary. Setting item Setting range Buffer Default Check timing memory Setting condition value of the set data address (decimal) 0: Position control mode The data can be set Pr.9 Da.2 Da.3 Positioning mode 1: Speed-position control switch 0 anytime. 25 mode Note that the set data at Positioning the rise () of a address P1 positioning start signal When a to pulse 0pulse (movement (Y22, Y23) are used for positioning start 303 amount) the operation. If the data signal (Y22, Y23) are written when BUSY is turned on signal (X14) is on, the Positioning data will be accepted at to pulse/s 0pulse/s speed V1 the rise () of the next 305 positioning start signal (Y22, Y23). (8) Speed-position movement amount change The movement amount for position control can be changed during speed control of the speed-position control switch mode. Set the new movement amount in " during speed control. The value in " Cd.6 Cd.6 New speed-position movement amount" using a sequence program New speed-position movement amount" is reflected as the movement amount for position control at the input of Speed-position switching command signal (CHANGE). 9.6 Details of Major Positioning Control Speed-position control switch mode 197

200 (a) Operation of a speed-position movement amount change The operation is as follows. v Speed control Position control Movement amount (P1) set to " Cd.6 New speed-position movement amount" t Speed-position switching command signal (CHANGE) Cd.6 New speed-position movement amount 0 Movement amount can be changed P1 Movement amount cannot be changed P2 The change after Speed-position switching command signal (CHANGE) was turned on is ignored. P1 becomes the movement amount in position control. (b) Cd.6 New speed-position movement amount The setting is cleared to 0 when the next operation starts. (c) Data setting The following table lists the data to be set, setting condition, and check timing. Buffer Setting item Setting range Default value Setting condition Check timing of the set data memory address (decimal) Cd.6 New speed-position movement amount 1 to pulse 0pulse The data can be set when BUSY signal (X14) is on during speed control, and besides before the input of Speed-position switching command signal (CHANGE). At the input of Speed-position switching command signal (CHANGE) If " Cd.6 New speed-position movement amount" is a value that moves the workpiece outside the stroke limit range, the error "Movement outside the stroke limit range" (error code: 87) occurs at the input of Speedposition switching command signal (CHANGE), and the set new movement amount is ignored. (The value in " Da.2 Positioning address P1" (movement amount) is used.) (9) Operation of speed control Operation can stay as speed control in the speed-position control switch mode when one of the following conditions is satisfied. Not to input Speed-position switching command signal (CHANGE) Not to turn on Speed-position switching enable signal (Y2C) During speed control, the stroke limit function cannot be used since " Md.1 stroke range is from the lower limit switch (RLS) to the upper limit switch (FLS). Current feed value" is not updated. A 198

201 CHAPTER 9 MAJOR POSITIING CTROL 9.7 Operation Timing and Processing Time of Major Positioning Control 9 This section explains the operation timing and processing time of major positioning control. v Major positioning control *1 t t1 t2 Positioning start signal (Y21 to Y23) BUSY signal (X14) Positioning complete signal (X15) Positioning start complete signal (X21 to X23) OPR complete signal (X13) t3 *1 This is an indication of internal commands, and does not match with the actual analog output waveform. The following values apply to t1 to t3. t1 t2 t3 0.7 to 1.2ms 0 to 0.5ms 0 to 0.5ms 9.7 Operation Timing and Processing Time of Major Positioning Control 199

202 CHAPTER 10 JOG OPERATI The QD73A1's "JOG operation" can move the workpiece without using positioning data, but according to signal inputs and specified movement amount. Use this function for the following. To check the connection of a positioning system To obtain the address of positioning data To move the workpiece in the direction where a limit signal turns on if operation stopped when a limit signal turned off "JOG operation" moves the workpiece in the specified direction at the specified speed while Forward JOG start signal (Y24) or Reverse JOG start signal (Y25) is on. 200

203 CHAPTER 10 JOG OPERATI 10.1 Operation of JOG Operation Once JOG speed is set and while a JOG start signal is turned on through a sequence program, the QD73A1 executes JOG operation in the specified direction by outputting analog voltage to the drive unit. Choose forward run or reverse run using JOG start signals. 10 Start signal Forward JOG start signal (Y24) Reverse JOG start signal (Y25) Operation direction Address increasing direction Address decreasing direction (1) Operation of JOG operation The following is an example of JOG operation. 1 As a JOG start signal is turned on, acceleration starts in the specified direction according to " BUSY signal (X14) turns on at this time. Pr.6 Acceleration time". 2 As the accelerating operation reaches the speed set in " speed. The workpiece moves at the constant speed between 2 to 3 in the graph below. Cd.3 JOG speed", the move continues maintaining the As the JOG start signal is turned off, deceleration starts from the speed set in " 3 " Pr.7 Deceleration time". 4 As the speed reaches 0, the operation stops. BUSY signal (X14) turns off at this time. Cd.3 JOG speed" according to Cd.3 JOG speed Acceleration according to " Pr.6 Acceleration time" Forward JOG operation Deceleration according to " Pr.7 Deceleration time" PLC READY signal (Y2D) QD73A1 READY signal (X11) Forward JOG start signal (Y24) Reverse JOG operation 10.1 Operation of JOG Operation Reverse JOG start signal (Y25) BUSY signal (X14) Executed by the QD73A1 Speed can be changed by writing data to the control change area of the buffer memory using a sequence program. For details, refer to the following. Page 218, Section

204 (2) Range of JOG operation The following figure shows the range of JOG operation. Lower limit switch (RLS) Underflow signal (X1A) Error (error code: 100) Overflow signal (X19) Stroke limit lower limit 0 Within the stroke limit range (Positioning range) QD73A1 control range JOG operation range Stroke limit upper limit Error (error code: 100) Underflow signal (X1A) Overflow signal (X19) Upper limit switch (FLS) Overflow signal (X19) Deceleration stop Deceleration stop (a) Range in which JOG operation can be executed JOG operation can be executed within the range between the upper limit switch (FLS) and the lower limit switch (RLS). Note that the stroke limit upper limit and lower limit are ignored in JOG operation. JOG operation decelerates and stops if Upper limit signal (FLS) or Lower limit signal (RLS) turned off during the operation. (b) When " Md.1 Current feed value" exceeded the QD73A1's control range during JOG operation When the current feed value exceeded the QD73A1's control range ( to ), Overflow signal (X19) or Underflow signal (X1A) turns on, and " figure. Md.1 Current feed value" varies again as in the following Md.1 Current feed value t Reset Overflow signal (X19) or Underflow signal (X1A) by turning on Overflow reset signal (Y29) or Underflow reset signal (Y2A). (c) When the stroke limit range was exceeded during JOG operation The error "Outside the stroke limit range" (error code: 100) occurs. 202

205 CHAPTER 10 JOG OPERATI (d) When the upper limit switch (FLS) or the lower limit switch (RLS) turned off The error "Upper limit signal while BUSY" (error code: 91) or the error "Lower limit signal while BUSY" (error code: 92) occurs. If operation decelerated and stopped due to the upper limit switch (FLS) or the lower limit switch (RLS), JOG operation can be executed in the opposite direction (direction back to the normal range) after resetting the error. (If the JOG start signal for the erroneous direction is turned on, the error occurs again.) 10 v JOG operation Deceleration stop t JOG operation possible JOG operation not possible Upper limit signal (FLS) or Lower limit signal (RLS) (3) Precautions during operation Set a small value in " gradually for safe operation. If " Cd.3 Cd.3 JOG speed" first to check the operation, then change it to greater values JOG speed" is 0, the error "JOG speed Outside the setting range" (error code: 41) occurs, and the JOG operation does not start. If " Cd.3 JOG speed" exceeds " Pr.5 Speed limit value", the operation is executed at the speed set in " Pr.5 Speed limit value", but the error "JOG speed Outside the setting range" (error code: 41) occurs Operation of JOG Operation 203

206 (4) JOG start timing During deceleration after a JOG start signal was turned off, if the JOG start signal for the same direction is turned on, JOG operation starts again accelerating its speed. v Forward JOG start signal (Y24) t BUSY signal (X14) Executed by the QD73A1 During deceleration after a JOG start signal was turned off, if the JOG start signal for the opposite direction is turned on, JOG operation starts in the opposite direction after the completion of deceleration. v t Forward JOG start signal (Y24) Reverse JOG start signal (Y25) BUSY signal (X14) Executed by the QD73A1 BUSY signal (X14) turns off for 0.5ms when switching. 204

207 CHAPTER 10 JOG OPERATI During deceleration after a JOG start signal was turned off, if OPR start signal (Y20) or a positioning start signal (Y21 to Y23) is turned on, an error occurs and the operation does not start. v 10 Forward JOG start signal (Y24) BUSY signal (X14) t OPR start signal (Y20) or Positioning start signal (Y21 to Y23) Md.3 Error code (ERR.1) 81 (BUSY signal at start) Executed by the QD73A1 If the JOG start signal for the opposite direction is turned on during JOG operation, the error "BUSY signal at start" (error code: 81) occurs and the operation in the opposite direction is not executed. If Forward JOG start signal (Y24) and Reverse JOG start signal (Y25) are turned on at the same time, the error "BUSY signal at start" (error code: 81) occurs and forward JOG operation is executed. (5) Sub functions for JOG operation For details on "sub functions" that can be combined with JOG operation, refer to the following. Page 29, Section 3.3 (4) For details on each sub function, refer to the following. Page 208, CHAPTER 11 (6) Monitoring JOG operation To directly monitor the buffer memory using GX Works2, refer to the following. Page 89, Section Operation of JOG Operation 205

208 10.2 Operation Timing and Processing Time of JOG Operation This section explains the operation timing and processing time of JOG operation. v JOG operation *1 t JOG start signal (Y24, Y25) BUSY signal (X14) Positioning complete signal (X15) t1 t2 t3 *1 This is an indication of internal commands, and does not match with the actual analog output waveform. The following values apply to t1 to t3. t1 t2 t3 0.7 to 1.2ms 0 to 0.5ms 0 to 0.5ms 206

209 CHAPTER 10 JOG OPERATI 10.3 Data Setting for JOG Operation To execute JOG operation, certain data must be set and stored in the buffer memory areas. The following table lists the JOG data to be set, setting condition, and check timing. 10 Cd.3 Pr.5 Pr.6 Pr.7 Buffer Check timing Default memory Setting item Setting range Setting condition of the set value address data (decimal) JOG speed 1 to pulse/s 0pulse/s The data can be set anytime. 84 Note that the set data at the 85 Speed limit value 10 to pulse/s rise () of a JOG start signal (Y24, Y25) are used When a JOG 20 (Set in the unit of pulse/s for the operation. If the data start signal 21 10pulse/s.) Acceleration time are written when BUSY (Y24, Y25) is signal (X14) is on, the data turned on 22 2 to 9999ms 300ms will be accepted at the rise Deceleration time () of the next JOG start signal (Y24, Y25) Data Setting for JOG Operation 207

210 CHAPTER 11 CTROL SUB FUNCTIS Functions referred to as "sub function" compensate or limit control, or add functions at the execution of major positioning functions. Execute these sub functions by setting parameters or through a sequence program for them. The following functions are referred to as "sub function". Sub function Description Reference Functions to compensate control Electronic gear function This function controls moving distance and speed by multiplying command pulse output of the QD73A1. Page 209, Section 11.1 Speed limit function This function limits command speed to the value set in " Pr.5 Speed limit value". Page 211, Section 11.2 Functions to limit control Stroke limit function This function controls operation not to execute positioning when a command that moves the workpiece outside the specified stroke limit range is given. Page 213, Section 11.3 Upper limit switch (FLS)/lower limit switch (RLS) function This function decelerates and stops operation according to the detection on limit switches placed at the upper and lower stroke limits. Page 215, Section 11.4 Current value change function This function changes the value set in " value" to a specified value. Md.1 Current feed Page 217, Section 11.5 Functions to change control details Speed change function Deviation counter clear function This function changes speed during major positioning control or JOG operation. This function clears the accumulated pulses in the deviation counter. When the servomotor power was turned off due to an emergency stop during positioning, clearing the accumulated pulses in the deviation counter prevents servomotor rotation at power recovery. Page 218, Section 11.6 Page 220, Section 11.7 This function turns on In-position signal (X16) while the Other functions In-position function Accumulated pulse error detection function accumulated pulse amount in the deviation counter is within the specified in-position range (1 to 20479pulse). In-position signal (X16) can be used as the signal right before positioning completion. This function outputs an alert and immediately stops the positioning when the accumulated pulses reached the amount specified by the user before the pulses exceed the amount set in "Accumulated pulse setting" in the switch setting and an excessive error occurs. Page 221, Section 11.8 Page 223, Section

211 CHAPTER 11 CTROL SUB FUNCTIS 11.1 Electronic Gear Function The "electronic gear function" controls machine movement amount per one command pulse by multiplying command pulse output of the QD73A1. Positioning is much more flexible with the use of this function, eliminating the process of selecting a detector according to the machine system. (1) Details of the electronic gear function Machine movement amount per one pulse is adjusted inside the QD73A1. Electronic gear is active on all of OPR control, major positioning control, and JOG operation. 11 QD73A1 Drive unit Setting data Electronic gear Deviation counter D/A converter Speed command Servo amplifier Number of command pulses Command pulse CMX CDV Accumulated pulses Multiplication Analog voltage feedback pulse Set numerator and denominator of command pulse multiplication for electronic gear to parameters. Satisfy the following condition when setting a numerator (CMX) and a denominator (CDV) CMX CDV 50 If the setting range is exceeded, the error "Denominator of command pulse multiplication for electronic gear Outside the setting range" (error code: 3) occurs. When the electronic gear function is used, positioning speed and movement amount are multiplied by the specified value. When there are decimal pulses, the fractions are maintained inside and accumulated for the next command. The following is an example of the use of electronic gear. Ex. A positioning system using the following worm gear Worm gear lead: 10mm Feedback pulses from the servomotor: 12000pulse/rev When the electronic gear function is not used, the feed rate (movement amount per pulse) has fractions Electronic Gear Function 10 = = mm/pulse In this system, the fractions can be avoided using the electronic gear function and setting numerator and denominator as follows: CMX/CDV = ' = 12 = 0.01mm/pulse

212 (2) Precautions for control Execute OPR without fail after resetting the CPU module. If not, a positioning error occurs by the fractions of electronic gear that were not output during positioning before the CPU reset. When the positioning speed value that was multiplied by the set value of electronic gear exceeds the speed limit value, the limit value is ignored. On the other hand, if the speed exceeds 4Mpulse/s, the maximum value of command frequency, the error "Outside the command frequency range" (error code: 104) occurs. In this case, the speed is 4Mpulse/s, resulting in a positioning error. To avoid this case, satisfy the following condition when setting positioning speed and electronic gear: Positioning speed Electronic gear 4Mpulse/s (3) Setting the electronic gear function The following table lists the data to be set, setting condition, and check timing. Buffer Setting item Setting range Default value Setting condition Check timing of the set data memory address (decimal) Numerator of Pr.3 Pr.4 command pulse multiplication for electronic gear (CMX) Denominator of command pulse multiplication for electronic gear (CDV) 1 to PLC READY When PLC READY signal (Y2D) signal (Y2D) is turned must be off. on

213 CHAPTER 11 CTROL SUB FUNCTIS 11.2 Speed Limit Function The "speed limit function" limits command speed to the value set in " during major positioning control or JOG operation exceeds " Pr.5 Pr.5 Speed limit value" when command speed Speed limit value". (1) Control detail This function is active on major positioning control and JOG operation. When the value set in " Pr.5 " Pr.5 Speed limit value". The operation of the speed limit function is as follows. Speed limit value" is exceeded in each control, command speed is limited to 11 v Da.3 Positioning speed V1 1 Pr.5 Speed limit value 2 t In the figure above, the speed set in " Pr.5 Speed limit value" is output since " Da.3 Positioning speed V1" is faster than " Pr.5 Speed limit value". In this case, the movement amount that was not output because of the speed limit (1 in the figure) is output later (2 in the figure), delaying the positioning completion. (2) Precautions for control Set positioning speed and JOG speed to a value equal to or less than " Pr.5 Speed limit value". If " Pr.5 Speed limit value" is exceeded, command speed is limited to " Speed limit value". Also, set OPR speed to a value equal to or less than " Pr.5 Speed limit value". If " Pr.5 Speed limit value" is exceeded, the error "OPR speed Outside the setting range" (error code: 20) occurs at the start of OPR. Pr Speed Limit Function 211

214 (3) Setting the speed limit function The following table lists the data to be set, setting condition, and check timing. Pr.5 Setting item Setting range Default value Setting condition The data can be set anytime. Note that the set data at the rise () of a start 10 to signal is used for the Speed limit pulse/s pulse/s operation. If the data is value (Set in the unit of written when BUSY 10pulse/s.) signal (X14) is on, the data will be accepted at the rise () of the next start signal. Check timing of the set data When a positioning start signal (Y21 to Y23) is turned on When a JOG start signal (Y24, Y25) is turned on When OPR start signal (Y20) is turned on Buffer memory address (decimal) Set " Pr.5 Speed limit value" in a unit of 10 pulses. If a single digit is set, the value is rounded off. Ex. For instance, if "1999" is set, the operation is executed with a speed limit value of "1990". 212

215 CHAPTER 11 CTROL SUB FUNCTIS 11.3 Stroke Limit Function The "stroke limit function" controls operation not to execute positioning when a command that moves the workpiece outside the specified stroke limit range is given. (1) Control detail This function limits the moving range of the workpiece. The following figure shows a moving range of a workpiece when the stroke limit function is used. 11 RLS Moving range of the workpiece FLS Stroke limit lower limit Stroke limit upper limit The following is an example in which a moving range of a workpiece changes following a current value change. Ex. When the current stop position is 2000 and the stroke limit upper limit is set to 5000 As the current value is changed from 2000 to 1000, " Md.1 Current feed value" changes to 1000, expanding the moving range of the workpiece. Before current value change Md.1 Current feed value After current value change Moving range Stop position Moving range Stroke limit upper limit 11.3 Stroke Limit Function Md.1 Current feed value Stroke limit upper limit 213

216 (2) Stroke limit check details and processing for each control The following table describes stroke limit checks and processing in case of an error that are performed by the QD73A1. Check number Check detail Processing in case of an error If a current value is outside the stroke limit range *1, the module reports an error. (The module checks " Md.1 Current feed value".) If a positioning address setting is outside the stroke limit range *1, the module reports an error. (The module checks " Da.2 Positioning address P1".) If a current value exceeds the stroke limit range *1, the module reports an error. (The module checks " Md.1 Current feed value".) The module turns on Error detection signal (X18), and reports the error "Outside the stroke limit range at start" (error code: 83). The module turns on Error detection signal (X18), and reports the error "Positioning address Outside the setting range" (error code: 30). The module turns on Error detection signal (X18), and reports the error "Outside the stroke limit range" (error code: 100). *1 The range from " Pr.1 Stroke limit upper limit" to " Pr.2 Stroke limit lower limit" The following table describes the corresponding stroke limit check for each control. Control OPR control Position Positioning control Major control Two-phase trapezoidal positioning mode positioning control control Speed-position control switch mode JOG operation Current value change Stroke limit check Stroke limit check 3 is performed. Stroke limit check 1 and 2 are performed. Stroke limit check 3 is performed. No stroke limit check is performed. (3) Precaution for control To execute the stroke limit function normally, OPR must be executed beforehand. (4) Setting the stroke limit function The following table lists the data to be set, setting condition, and check timing. Buffer Setting item Setting range Default value Setting condition Check timing of the set data memory address (decimal) Pr.1 Pr.2 Stroke limit upper limit Stroke limit lower limit to pulse pulse 0pulse PLC READY signal (Y2D) must be off. When PLC READY signal (Y2D) is turned on (5) Disabling the stroke limit function Set values as follows. Pr.1 Stroke limit upper limit = Pr.2 Stroke limit lower limit 214

217 CHAPTER 11 CTROL SUB FUNCTIS 11.4 Upper Limit Switch (FLS)/Lower Limit Switch (RLS) Function The "upper limit switch (FLS)/lower limit switch (RLS) function" decelerates and stops operation according to signal inputs from limit switches that are placed at the upper and lower limits of the machine's movable range. This function prevents the machine from being damaged by stopping the operation before the workpiece reaches the upper or lower limit of the moving range, which is a physical limit that the QD73A1 can handle. Normally, upper limit switch (FLS) and lower limit switch (RLS) are placed inside the stroke limits (stroke ends) of the drive unit, so that the operation is stopped before the workpiece reaches a stroke limit (stroke end) of the drive unit. 11 (1) Control detail The following figure shows the operation of the upper limit switch (FLS)/lower limit switch (RLS) function. Decelerates and stops upon detection of the lower limit switch (RLS) Lower limit Control range of the QD73A1 Upper limit Decelerates and stops upon detection of the upper limit switch (FLS) Mechanical stopper Moving direction Moving direction Mechanical stopper Stroke limit of the drive unit Starts toward the lower limit direction Lower limit switch (RLS) Starts toward the upper limit direction Upper limit switch (FLS) QD73A1 Stroke limit of the drive unit Drive unit 11.4 Upper Limit Switch (FLS)/Lower Limit Switch (RLS) Function 215

218 (2) Wiring upper limit switch (FLS) and lower limit switch (RLS) To use the upper limit switch (FLS)/lower limit switch (RLS) function, wire the QD73A1's terminals for Upper limit signal (FLS) and Lower limit signal (RLS) as in the following figure. QD73A1 FLS RLS COM 24VDC When wiring the terminals, set the switch that is placed on the direction in which " Md.1 Current feed value" increases as an upper limit switch (FLS), and the switch that is placed on the direction in which " feed value" decreases as a lower limit switch (RLS). Current If the upper and lower limit switches are wired opposite, the upper limit switch (FLS)/lower limit switch (RLS) function does not operate normally, and the motor does not stop. Md.1 (3) Precautions for control OPR control, major positioning control, and JOG operation cannot be started from the area where the upper limit switch (FLS) had detected overrange in the direction where " Current feed value" increases. Also, OPR control, major positioning control, and JOG operation cannot be started from the area where the lower limit switch (RLS) had detected overrange in the direction where " Current feed value" decreases. To start operation again, move the workpiece to a position within the control range of the QD73A1 using JOG operation. If the wiring between Upper limit signal (FLS) and COM terminal or between Lower limit signal (RLS) and COM terminal is open (including the case that the terminals are not wired), the QD73A1 cannot execute positioning. (4) When the upper limit switch (FLS)/lower limit switch (RLS) function is not used Wire the QD73A1's terminals for Upper limit signal (FLS) and Lower limit signal (RLS) as in the following figure. QD73A1 Md.1 Md.1 FLS RLS COM 24VDC 216

219 CHAPTER 11 CTROL SUB FUNCTIS 11.5 Current Value Change Function The "current value change function" changes the value set in " Current feed value" to a specified value. Use this function when operation cannot be started due to a current feed value outside the stroke range, or to change the current value. (1) Control detail Md.1 11 As a new address is set in " Cd.1 New current value" and "1" is written in " Cd.7 Current value change request", " Md.1 Current feed value" changes to the value set in " Cd.1 New current value". " Md.2 Actual current value" is equal to " Md.1 Current feed value - Accumulated pulses in the deviation counter". When the accumulated pulse amount in the deviation counter is 0, " to " Md.2 Actual current value". Md.1 Current feed value" is equal Md.1 Current feed value Md.2 Actual current value Md.1 Current feed value - Accumulated pulses in the deviation counter (2) Precautions for control If "1" is set in " Current value change request" when BUSY signal (X14) is on, the error "Current value change error" (error code: 110) occurs and the current value is not changed. If the current value is changed to a value outside the stroke limit range, an error does not occur. (3) Data setting and the execution condition of the function Cd.1 Cd.7 Cd.7 The following table lists the data to be set and the condition to execute the current value change function. Setting item Setting range Default value Execution condition of the current value change function Buffer memory address (decimal) New current to 80 0pulse value pulse BUSY signal (X14) must be 81 Current value 1: Change the current off change request value 11.5 Current Value Change Function 217

220 11.6 Speed Change Function The "speed change function" changes the speed of the operation in process to a specified speed at a specified timing. Set a new speed value to the buffer memory and request the speed change. (1) Control detail The following figure shows the operation of speed changes. v Speed change to V2 V1 V2 Positioning in V1 Speed change to V3 V3 t (2) Precautions for control (a) Speed change during two-phase trapezoidal positioning control A speed change requested during two-phase trapezoidal positioning control is reflected to the command speed ( Da.3, Da.5 ) of the next positioning data. Positioning control P1 Next control P2 Cd.2 New speed value Command speed of P2 Command speed of P1 Speed change command If the remaining distance is not enough to change speed, the speed cannot be changed during two-phase trapezoidal positioning control. (b) Timing at which speed cannot be changed Speed cannot be changed at the following timings. During deceleration following a stop command During OPR (The error "Speed change error (OPR)" (error code: 111) occurs.) During automatic deceleration in major positioning control (The error "Speed change error (Positioning)" (error code: 112) occurs.) During deceleration stop of JOG operation following a change (from on to off) of a JOG start signal (Y24, Y25) (The error "Speed change error (JOG)" (error code: 113) occurs.) 218

221 CHAPTER 11 CTROL SUB FUNCTIS (c) New speed and " Pr.5 Speed limit value" When the value set in " Cd.2 New speed value" exceeds " Pr.5 Speed limit value", the positioning is operated at " Pr.5 Speed limit value". (d) Successive speed changes To change speed successively, set an interval of 10ms or more between each speed change. If there are not enough intervals between speed changes, the QD73A1 may not be able to follow the requests and process the commands normally. 11 (e) When "0" is set in " Cd.2 New speed value" When "0" is set in " Cd.2 New speed value" and a speed change is requested, the axis stops. Though, BUSY signal (X14) stays on. (Inputting Stop signal turns off BUSY signal (X14).) To activate the axis again, set a value other than "0" in " change. v Cd.2 New speed value" and request the speed Positioning operation Positioning start signal (Y21 to Y23) BUSY signal (X14) t Cd.2 New speed value Cd.2 Cd.8 Cd.8 Speed change request Executed by the QD73A1 (3) Data setting and the execution condition of the function The following table lists the data to be set and the condition to execute the speed change function. Setting item Setting range Default value Buffer (decimal) Execution condition of the speed memory change function address 0 to " Pr.5 Speed limit BUSY signal (X14) must be on. Note that New speed value" (pulse/s) speed cannot be changed at the following. 82 0pulse/s value (Maximum After the start of automatic deceleration 83 pulse/s) After the input of Stop signal (Y27) or Stop signal (STOP) Speed change request 1: Change speed 0 After a JOG start signal (Y24, Y25) was turned off during JOG operation During OPR Speed Change Function 219

222 11.7 Deviation Counter Clear Function The "deviation counter clear function" clears the accumulated pulses in the deviation counter to 0. When the servomotor power was turned off due to an emergency stop during positioning, clearing the accumulated pulses in the deviation counter to 0 prevents servomotor rotation at power recovery. (1) Precautions for control (a) Start after clearing deviation counter To start positioning after clearing the deviation counter, check the following two points. The value in " Cd.4 Deviation counter clear command" changed to 0. No error is occurring. (b) " Md.2 Actual current value" and " Md.1 Current feed value" When the deviation counter is cleared, " " Md.1 Current feed value". Md.2 Actual current value" changes to the value in To change " Md.1 Current feed value" of after clearing the deviation counter to " Md.2 Actual current value" of before clearing the deviation counter, follow the procedure below. 1 Read out the value in " Md.2 Actual current value". 2 Write the read value to " Cd.1 New current value". 3 Clear the deviation counter. 4 Change the current value. (2) Data setting and the execution condition of the function The following table lists the data to be set and the condition to execute the deviation counter clear function. Execution condition of Buffer memory Setting item Setting range Default value the deviation counter address clear function (decimal) Cd.4 Deviation counter clear command 1: Clear the deviation counter 0 BUSY signal (X14) must be off

223 CHAPTER 11 CTROL SUB FUNCTIS 11.8 In-position Function The "in-position function" turns on In-position signal (X16) while the accumulated pulse amount in the deviation counter is within the specified in-position range (1 to 20479pulse) after deceleration started. In-position signal (X16) can be used as the signal right before positioning completion. (1) Control detail In-position signal (X16) turns on when the accumulated pulse amount in the deviation counter becomes equal to the value set in " Pr.8 In-position range" and stays on till the next start. 11 v Pulse output Motor speed Accumulated pulses t In-position signal (X16) In-position setting range Turns off at start. Turns on when the deviation counter value (pulse) becomes the one within the set in-position range. Accumulated pulse amount is checked with the in-position range every 0.5ms. (2) Precautions for control (a) During speed control in the speed-position control switch mode Accumulated pulse amount is not checked with the in-position range. (b) Timing at which In-position signal (X16) turns off In-position signal (X16) turns off at the following timings. When OPR starts When positioning control starts When two-phase trapezoidal positioning control starts When the speed-position control switch mode starts When JOG operation starts 11.8 In-position Function 221

224 (3) Setting the in-position function The following table lists the data to be set, setting condition, and check timing. Buffer Setting item Setting range Default value Setting condition Check timing of the set data memory address (decimal) Pr.8 In-position range 1 to 20479pulse 5pulse The data can be set anytime. Note that the set data at the rise () of a start signal is used for the operation. If the data is written when BUSY signal (X14) is on, the data will be accepted at the rise () of the next start signal. When a positioning start signal (Y21 to Y23) is turned on When a JOG start signal (Y24, Y25) is turned on When OPR start signal (Y20) is turned on

225 CHAPTER 11 CTROL SUB FUNCTIS 11.9 Accumulated Pulse Error Detection Function The accumulated pulse error detection function outputs an alert and immediately stops the positioning when the accumulated pulses reached the amount specified by the user before the pulses exceed the amount set in "Accumulated pulse setting" in the switch setting and an excessive error occurs. This function enables to detect abnormal operating status in early stages and minimize the influence on the mechanical system. 11 (1) Control details The following figures show the operation of the accumulated pulse error detection function. Immediate stop accumulated pulses (maximum value) Alert output accumulated pulses (maximum value) Reference value (maximum value) Accumulated pulse An alert occurs because the accumulated pulses have exceeded the amount of Alert output accumulated pulses (maximum value). Positioning stops immediately because the accumulated pulses have exceeded the amount of Immediate stop accumulated pulses (maximum value). (Accumulated pulse clear) The accumulated pulses increase because the workpiece hit something and stopped. t Cd.18 Accumulated pulse error detection request Start signal (Y20 to Y26) BUSY signal (X14) Excessive error signal (X17) Error detection signal (X18) Servo signal (SV) 11.9 Accumulated Pulse Error Detection Function Md.3 Error code (ERR.1) Md.21 Deviation counter value (pulse) Inconsistent 0 Executed by the QD73A1 223

226 (a) Alert output The QD73A1 compares accumulated pulses that are output during the positioning with alert output accumulated pulses. If accumulated pulses exceed the amount of the alert output accumulated pulses, the error "Accumulated pulse alert" (error code: 130) occurs. (Even after the error occurs, the positioning continues.) (b) Immediate stop processing The QD73A1 compares accumulated pulses that are output during the positioning with immediate stop accumulated pulses. If accumulated pulses exceed the amount of the immediate stop accumulated pulses, the QD73A1 performs the following processing and stops the positioning. Excessive error signal (X17): Accumulated pulse: Clear to 0 Servo signal (SV): BUSY signal (X14): (Positioning complete signal (X15) does not turn on.) Turn on PLC READY signal (Y2D) to restore the positioning (In the same way as when an excessive error occurs). (2) Executing procedure The following is the executing procedure of the accumulated pulse error detection function. Start Measure the reference value. Page 225, Section Save the measured reference value in the flash ROM inside the QD73A1. Page 225, Section Set the data to use the accumulated pulse error detection function. Page 226, Section Execute the positioning. End 224

227 CHAPTER 11 CTROL SUB FUNCTIS Measuring and saving the reference value in the flash ROM Before using the accumulated pulse error detection function, the reference value needs to be measured to detect errors. Reference value means the maximum/minimum accumulated pulse values that are output when the QD73A1 is operating normally. The QD73A1 obtains the judgment value for alert output and immediate stop and carry out control using the reference value, alert output accumulated pulse setting value, and immediate stop accumulated pulse setting value. Executing procedure is as follows. 1. Set " Cd.19 Measurement start request" to "1: Requested" and start the reference value measurement. The QD73A1 monitors the status of accumulated pulses and measures the maximum/minimum values while " Cd.19 Measurement start request" is set to Set " Cd.20 Reference value write request" to "1: Requested" when " Md.20 Reference value measurement flag" is set to "1: Measured". The QD73A1 saves the measured maximum/minimum values in the flash ROM when " Cd.20 Reference value write request" is set to v Measurement range Start signal (Y20 to Y26) Cd.19 Positioning command Accumulated pulse BUSY signal (X14) Md.20 Reference value measurement flag Cd.20 Measurement start request Reference value write request Minimum value Maximum value t 11.9 Accumulated Pulse Error Detection Function Measuring and saving the reference value in the flash ROM Cleared to 0 by the QD73A1 Executed by the QD73A1 225

228 Setting the accumulated pulse error detection function Set the values of " Cd.13 Alert output accumulated pulse setting value (maximum value)" to " Cd.16 Immediate stop accumulated pulse setting value (minimum value)", and set " Accumulated pulse error detection request" to 1 to execute the accumulated pulse error detection function. Set the data required for control in the sequence program. The following table lists the data to be set, setting condition, and check timing. Cd.18 Buffer Setting item Setting range Default value Setting condition Check timing of the set data memory address (decimal) Cd.13 Cd.14 Cd.15 Cd.16 Alert output accumulated pulse setting value (maximum value) *1*2 Immediate stop accumulated pulse setting value (maximum value) *1*2 Alert output accumulated pulse setting value (minimum value) *1*2 Immediate stop accumulated pulse setting value (minimum value) *1*2 If " Accumulated pulse setting value selection" is set to 0: 1 to pulse If " Accumulated pulse setting value selection" is set to 1: 1000 to ( 10-3 ) If " Accumulated pulse setting value selection" is set to 0: to -1 pulse If " Cd.17 Cd.17 Cd.17 Cd.17 Accumulated pulse setting value selection" is set to 1: 1000 to ( 10-3 ) The data can be set anytime. When accumulated pulse error detection is requested (When " Cd.18 Accumulated pulse error detection request" is changed from 0 to 1.) Cd.17 Accumulated pulse setting value selection 0: Set with pulse 1: Set with magnification 0: Set with pulse 408 Cd.18 Accumulated pulse error detection request *3 0: No request 1: Requested 0: No request " Cd.19 Measurement start request" must be set to Cd.19 Measurement start request *3 0: No request 1: Requested 0: No request " Cd.18 Accumulated pulse error detection request" must be set to Cd.20 Reference value write request *3 0: No request 1: Requested 0: No request " Md.20 Reference value measurement flag" must be set to *1 Set both alert output accumulated pulse setting value and immediate stop accumulated pulse setting value. If either of the values is set to 0, the accumulated pulse error detection function does not operate. The error "Accumulated pulse error undetectable" (error code: 131) occurs. *2 If either of the maximum value and minimum value is set properly, the accumulated pulse error detection function operates. The error detection is not executed for the unset side. *3 Each request is detected on a cycle of 0.5ms. 226

229 CHAPTER 11 CTROL SUB FUNCTIS (1) Alert output accumulated pulses and immediate stop accumulated pulses Alert output accumulated pulses (accumulated pulses set to output an alert) and immediate stop accumulated pulses (accumulated pulses set to stop the positioning immediately) are set by combining the following values. Reference value Alert output accumulated pulse setting value ( Cd.13, Cd.15 ) Immediate stop accumulated pulse setting value ( Cd.14, Cd.16 ) Cd.17 Accumulated pulse setting value selection 11 (2) If " Cd.17 Accumulated pulse setting value selection" is set to "0: Set with pulse" Alert output accumulated pulses and immediate stop accumulated pulses can be obtained as follows: Alert output accumulated pulses = reference value + alert output accumulated pulse setting value Immediate stop accumulated pulses = reference value + immediate stop accumulated pulse setting value (a) When the value is outside the setting range The accumulated pulse error detection function does not operate. (b) Alert output accumulated pulse setting value and immediate stop accumulated pulse setting value The value of alert output accumulated pulses (maximum value) is calculated using the value of " Cd.14 Immediate stop accumulated pulse setting value (maximum value)" at the following condition: " Cd.13 Alert output accumulated pulse setting value (maximum value)" > " Cd.14 Immediate stop accumulated pulse setting value (maximum value)" The value of alert output accumulated pulses (minimum value) is calculated using the value of " Cd.16 Immediate stop accumulated pulse setting value (minimum value)" at the following condition: " Cd.15 Alert output accumulated pulse setting value (minimum value)" < " Cd.16 Immediate stop accumulated pulse setting value (minimum value)" Ex. When the setting values are as follows: Cd.13 Alert output accumulated pulse setting value (maximum value): 1200 Cd.14 Immediate stop accumulated pulse setting value (maximum value): 1100 Both alert output accumulated pulses and immediate stop accumulated pulses are judged by the reference value pulse. Thus, an alert is output and the positioning stops simultaneously Accumulated Pulse Error Detection Function Setting the accumulated pulse error detection function 227

230 (c) Alert output accumulated pulse setting value, immediate stop accumulated pulse setting value, and "Accumulated pulse setting" in the switch setting The setting range of " Cd.13 Alert output accumulated pulse setting value (maximum value)" is 1 to (the range of " Cd.15 Alert output accumulated pulse setting value (minimum value)" is to -1). However, when the alert output accumulated pulses exceed the amount of "Accumulated pulse setting" in the switch setting, an alert is output according to the setting of "Accumulated pulse setting". The above is applicable to " Cd.14 Immediate stop accumulated pulse setting value (maximum value)" and " Cd.16 Immediate stop accumulated pulse setting value (minimum value)". Ex. When the measured reference value (maximum value) is 2000 and the setting values are as follows: "Accumulated pulse setting" in the switch setting: to 3700 [selection 1] Cd.13 Alert output accumulated pulse setting value (maximum value): 3000 The calculated value of alert output accumulated pulses (maximum value) is 5000 ( ). However, the value of alert output accumulated pulses (maximum value) becomes 3700 because the calculated value exceeds the amount of "Accumulated pulse setting" (3) If " Cd.17 Accumulated pulse setting value selection" is set to "1: Set with magnification" Alert output accumulated pulses and immediate stop accumulated pulses can be obtained as follows: Alert output accumulated pulses = reference value + (Alert output accumulated pulse setting value ) reference value 1000 Immediate stop accumulated pulses = reference value + (immediate stop accumulated pulse setting value ) reference value 1000 Last three digits of the setting value indicate the value after the decimal point. Ex. When the alert output accumulated pulse setting value is 1234, the alert output accumulated pulses can be obtained by multiplying the reference value by (a) When the value is outside the setting range The accumulated pulse error detection function does not operate. (b) Alert output accumulated pulse setting value and immediate stop accumulated pulse setting value The value of alert output accumulated pulses (maximum value) is calculated using the value of " Cd.14 Immediate stop accumulated pulse setting value (maximum value)" at the following condition: " Cd.13 Alert output accumulated pulse setting value (maximum value)" > " Cd.14 Immediate stop accumulated pulse setting value (maximum value)" The value of alert output accumulated pulses (minimum value) is calculated using the value of " Cd.16 Immediate stop accumulated pulse setting value (minimum value)" at the following condition: " Cd.15 Alert output accumulated pulse setting value (minimum value)" > " Cd.16 Immediate stop accumulated pulse setting value (minimum value)" 228

231 CHAPTER 11 CTROL SUB FUNCTIS Ex. When the setting values are as follows: Cd.13 Alert output accumulated pulse setting value (maximum value): 1200 Cd.14 Immediate stop accumulated pulse setting value (maximum value): 1100 Both alert output accumulated pulses and immediate stop accumulated pulses are judged by accumulated pulses that are 1.1 times of the reference value (maximum value). Thus, an alert is output and the positioning stops simultaneously. (c) Alert output accumulated pulse setting value, immediate stop accumulated pulse setting value, and "Accumulated pulse setting" in the switch setting 11 The setting range of " Cd.13 Alert output accumulated pulse setting value (maximum value)" and " Cd.15 Alert output accumulated pulse setting value (minimum value)" is 1000 to (1 to 50 times). However, when the alert output accumulated pulses exceed the amount of "Accumulated pulse setting" in the switch setting, an alert is output according to the setting of "Accumulated pulse setting" The above is applicable to " Cd.14 Immediate stop accumulated pulse setting value (maximum value)" and " Cd.16 Immediate stop accumulated pulse setting value (minimum value)". Ex. When the measured reference value (maximum value) is 2000 and the setting values are as follows: "Accumulated pulse setting" in the switch setting: to 3700 [selection 1] Cd.13 Alert output accumulated pulse setting value (maximum value): 3000 (3 times) The calculated value of alert output accumulated pulses (maximum value) is 6000 ( ( ) ). However, the value of alert output accumulated pulses (maximum value) becomes 3700 because the calculated value exceeds the amount of "Accumulated pulse setting" 11.9 Accumulated Pulse Error Detection Function Setting the accumulated pulse error detection function 229

232 CHAPTER 12 STOPPING AND RESTARTING CTROL This chapter describes stops and restarts of control Stopping Control This section describes control stops. The QD73A1 stops control in case of the following. When each control ended normally When Servo READY signal (READY) turned off When an error occurred in the CPU module When PLC READY signal (Y2D) was turned off When an error occurred in the QD73A1 When control was stopped intentionally (turning on Stop signal (Y27) or inputting Stop signal (STOP)) When the upper limit switch (FLS) or the lower limit switch (RLS) turned off When the power supply was turned off Forced stop Fatal stop Emergency stop Intentional stop (1) Cause of a stop and process of stopping The following table describes causes of stops and the subsequent processing (except the stop in case of normal completion of positioning). Cause of stop Status of Error detection signal (X18) *1 The operation varies as shown below depending on "Deviation counter clear setting" in the switch setting. If "0: Clear the deviation counter when the servo ready signal is." is set, the analog output voltage becomes the value on which zero adjustment was made at the timing when Servo READY signal (READY) has turned off. If "1: Do not clear the deviation counter when the servo ready signal is." is set, the analog output voltage equivalent to the accumulated pulses in the deviation counter is output. *2 Only during major positioning control or JOG operation *3 Only during OPR Error Servo READY signal (READY) turned off. *1 Servo READY while BUSY (error code: 90) The power supply was turned off. The upper limit switch Upper limit signal while BUSY (error code: 91) (FLS) turned off. The lower limit switch Lower limit signal while BUSY (error code: 92) (RLS) turned off. PLC READY signal (Y2D) was turned off. Stop signal (STOP) was input. Stop signal (Y27) was turned on. PLC READY signal during operation (error code: 105) *2 PLC READY signal during OPR (error code: 103) *3 *3 External stop signal during OPR (error code: 93) *3 STOP signal during OPR (error code: 102) *3 Process of stop Free run Deceleration stop 230

233 CHAPTER 12 STOPPING AND RESTARTING CTROL An emergency stop circuit should be built outside the programmable controller. (2) Stop during OPR If an error (a cause of a stop) occurs during OPR, a deceleration stop starts at the error occurrence. At the completion of the deceleration stop, OPR request signal (X12) stays on. Also, OPR complete signal (X13) does not turn on since the OPR was not completed normally. The following figure is the timing chart of when Stop signal (Y27) is turned on during OPR. v Deceleration start 12 t Near-point dog Zero signal OPR start signal (Y20) BUSY signal (X14) OPR request signal (X12) OPR complete signal (X13) Stop signal (Y27) Error detection signal (X18) 12.1 Stopping Control Md.3 Error code (ERR.1) (STOP signal during OPR) Executed by the QD73A1 231

234 (3) Stop during major positioning control or JOG operation (a) Stop before deceleration start of major positioning control or JOG operation If an error (a cause of a stop) occurs prior to a start of deceleration during major positioning control or JOG operation, a deceleration stop starts at the error occurrence. The deceleration speed depends on " Pr.7 Deceleration time" and " Pr.5 Speed limit value". Positioning complete signal (X15) does not turn on at the completion of the deceleration stop. Also, the next positioning does not start even if the error is resolved while the start signal is on. The start signal must be turned off and on. The following figure is the timing chart of when Stop signal (Y27) is turned on during positioning control. v Deceleration start t Positioning start signal (Y21 to Y23) BUSY signal (X14) Does not start even if Stop signal (Y27) is turned off Positioning complete signal (X15) Stop signal (Y27) Error detection signal (X18) *1 Executed by the QD73A1 *1 Error detection signal (X18) does not turn on in case of a stop following a change (from off to on) of Stop signal (Y27) or an input of Stop signal (STOP). Error detection signal (X18) turns on due to the following. Servo READY signal (READY) turned off. PLC READY signal (Y2D) was turned off. Upper limit signal (FLS) turned off. Lower limit signal (RLS) turned off. 232

235 CHAPTER 12 STOPPING AND RESTARTING CTROL (b) Stop during deceleration of major positioning control or JOG operation If an error (a cause of a stop) occurs during deceleration of major positioning control or JOG operation, the deceleration continues and the operation stops since it is toward completion of the positioning or is following a change (from on to off) of a JOG start signal (Y24, Y25). In case of major positioning control, Positioning complete signal (X15) turns on at its completion. This process is the same for a stop with an error. The following figure is the timing chart of when Stop signal (Y27) is turned on during deceleration of positioning control. v 12 t Positioning start signal (Y21 to Y23) BUSY signal (X14) Positioning complete signal (X15) Stop signal (Y27) Error detection signal (X18) *1 Executed by the QD73A1 *1 Error detection signal (X18) does not turn on in case of a stop following a change (from off to on) of Stop signal (Y27) or an input of Stop signal (STOP). Error detection signal (X18) turns on due to the following. Servo READY signal (READY) turned off. PLC READY signal (Y2D) was turned off. Upper limit signal (FLS) turned off. Lower limit signal (RLS) turned off Stopping Control 233

236 12.2 Restarting the Speed-position Control Switch Mode After a deceleration stop following Stop signal, the operation of the speed-position control switch mode before the stop can be restarted by turning on Speed-position mode restart signal (Y26). (1) Control detail (a) When positioning is stopped using Stop signal (Y27) or Stop signal (STOP) The positioning before the stop can be restarted by turning on Speed-position mode restart signal (Y26). The following figure shows the timing at which the speed-position control switch mode restarts. v Turning on Stop signal (Y27) starts deceleration. Turning on Stop signal (Y27) starts deceleration. Speed control Speed control Position control (0 P1) Position control ( P1 Positioning address) t Positioning start signal (Y22, Y23) BUSY signal (X14) Stop signal (Y27) Speed-position mode restart signal (Y26) Positioning complete signal (X15) Speed-position switching enable signal (Y2C) Speed-position switching command signal (CHANGE) Md.2 Actual current value 0 0 P1 P1 Positioning address Md.8 Control mode Executed by the QD73A1 234

237 CHAPTER 12 STOPPING AND RESTARTING CTROL (b) When speed is changed during positioning After a stop following the input of Stop signal (STOP), if Speed-position mode restart signal (Y26) is turned on, the positioning restarts according to the positioning speed set in the positioning data. The positioning does not restart at the new speed. v Speed change Stop signal Positioning speed Speed control Position control Position control Changed speed t 12 Speed-position switching command signal (CHANGE) Speed-position mode restart signal (Y26) (c) Precautions for control The following table indicates settings and start signal conditions to restart control. If Speed-position mode restart signal (Y26) is turned on in a condition "Restart possible", the error "Restart error" (error code: 85) occurs. : Restart possible : Restart not possible " Pr.9 Positioning mode" Start signal 1: Speed-position control switch 0: Position control mode mode OPR start signal (Y20) Absolute positioning start signal (Y21) Forward start signal (Y22) Reverse start signal (Y23) In the speed-position control switch mode, if Speed-position mode restart signal (Y26) is turned on in a status other than stop, the error "Restart error" (error code: 85) occurs and the axis does not act Restarting the Speed-position Control Switch Mode 235

238 CHAPTER 13 COMM FUNCTIS Functions referred to as "common function" can be used regardless of control method when necessary. Common functions can be used on GX Works Module Status Monitor Function The "module status monitor function" monitors the module information, switch setting information, and external I/O signal information. The module's detailed information can be displayed on the system monitor of GX Works2. (1) Hardware LED information The following LED statuses are displayed. Item Value Condition to be 0001 H RUN ERR BUSY ZERO GAIN SV RDY DOG STOP FLS RLS CHG 0000 H : Indicates that the LED is off H : Indicates that the LED is on. Operating normally (same as the RUN LED) Error occurrence During positioning Adjusting zero Adjusting gain Servo READY signal (READY) Near-point dog signal (DOG) Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) Speed-position switching command signal (CHANGE) 236

239 CHAPTER 13 COMM FUNCTIS (2) Hardware switch information The following switch setting statuses are displayed. Item Switch setting Value ROT DIR Rotation direction setting ACCUM PLS Accumulated pulse setting MULTI Multiplication setting ZERO DIR OPR direction setting Refer to Page 276, Appendix 4.1 (2). OPR METHOD OPR method setting ENC I/F Encoder I/F setting RESOLT Analog voltage resolution setting :, 1: For details on the system monitor of GX Works2, refer to the following. GX Works2 Version1 Operating Manual (Common) Indicates that Servo READY signal (READY) is on Module Status Monitor Function 237

240 13.2 Error History Function This function monitors the QD73A1's error history stored in the buffer memory. The error history of past 16 records can be monitored. Once 16 records are stored, the next record overwrites the oldest record. Therefore, the latest 16 errors are stored at all times. To check the error history, the QD73A1 needs to be registered in the intelligent function module monitor window. For how to register the module in the intelligent function module monitor window and to display the details of the history, refer to the following. GX Works2 Version1 Operating Manual (Intelligent Function Module) To monitor the error history directly through the buffer memory, refer to the following. Page 85, Section

241 CHAPTER 13 COMM FUNCTIS 13.3 Module Error Collection Function 1 Errors that occurred in the QD73A1 are collected into the CPU module. The error information of the QD73A1 module is held in a CPU module memory as a module error history, even when the power is turned off or the CPU module is reset. Error history (CPU module) and error log (intelligent function module) are displayed on one screen. Errors that are detected in the entire base system can be monitored in chronological order. CPU 19:33 Error C1 is detected! Module A 19:29 Error A1 is detected! 19:36 Error A2 is detected! Module B 19:34 Error B1 is detected! 13 Programming tool Error history display Time Module with error Error code 19:29 19:33 19:34 19:36 Module A CPU Module B Module A Error A1 Error C1 Error B1 Error A2 Error history (CPU module) 19:33 Error C1 Module error log Time Module with error Error code 19:29 19:34 19:36 Module A Module B Module A Error A1 Error B1 Error A2 [Example of screen display] For details on the module error collection function, refer to the following. Page 241, Section Module Error Collection Function 239

242 13.4 Error Clear Function When an error occurs, the error can be cleared on the system monitor. By clicking the button in the system monitor, the error codes stored in " Md.3 Error code (ERR.1)" and " Md.4 Error code (ERR.2)" are cleared, and the ERR. LED turns off. This operation is the same as the one that uses Error reset signal (Y28). However, the error history cannot be cleared with the button. For the error clearing method using Error reset signal (Y28), refer to the following. Page 38, Section (12) [Diagnostics] [System Monitor...] Error module 240

243 CHAPTER 14 TROUBLESHOOTING CHAPTER 14 TROUBLESHOOTING This chapter describes errors that may occur in the QD73A1 and troubleshooting for them Checking an Error on GX Works2 The error codes that occurred in the QD73A1 can be checked by the following. Choose a method depending on the purpose and application. Checking on the "Module's Detailed Information" window Checking on the "Error History" window (1) Checking on the "Module's Detailed Information" window Follow the procedure below Connect GX Works2 to the CPU module, and display the "System Monitor" window. [Diagnostics] [System Monitor...] 2. After confirming that an error is displayed on the QD73A1, select the QD73A1 and click the button. When an error is indicated on a module other than the QD73A1, refer to the user's manual for the module and take a corrective action Checking an Error on GX Works2 (To the next page) 241

244 (From the previous page) 3. Click the button to display the "Module's Detailed Information" window. The error detail and solution can be checked under "Error and Solution" (2) Checking on the "Error History" window An error history that includes errors in the QD73A1 and other modules is displayed in a list, and it can be output to a CSV file. The error codes and the error occurrence time can be checked even after the power was turned off and on or the CPU module was reset. [Diagnostics] [System Monitor...] button (a) (b) (c) (a) Error History List Error logs of modules are displayed in a list. 242

245 CHAPTER 14 TROUBLESHOOTING (b) Error and Solution, Intelligent Module Information Error and Solution: Displays the detail and corrective action for the error selected on "Error History List". Intelligent Module Information: Displays the QD73A1's status at the occurrence of the error selected on "Error History List". For the QD73A1, the following are displayed. Item Current feed value Actual current value State of the input signal (Xn0 to XnF) State of the input signal (X(n+1)0 to X(n+1)F) State of the output signal (Yn0 to YnF) State of the output signal (Y(n+1)0 to Y(n+1)F) WDT error H/W error signal QD73A1 READY signal OPR request signal OPR complete signal BUSY signal Positioning complete signal In-position signal Excessive error signal Error detection signal Overflow signal Underflow signal Servo READY signal Near-point dog signal External stop signal Upper limit signal Lower limit signal OPR start complete signal Absolute positioning start complete signal Forward start complete signal Reverse start complete signal Synchronization flag Zero/gain adjustment data writing complete flag Zero/gain adjustment change complete flag Set value change complete signal Operating status of the speed-position control switch mode Description The current value at the time of the error occurrence is stored. The actual current value at the time of the error occurrence is stored. The status of input signals (X0 to XF) at the time of error occurrence is stored (in hexadecimal). The status of input signals (X10 to X1F) at the time of error occurrence is stored (in hexadecimal). The status of output signals (Y0 to YF) at the time of error occurrence is stored (in hexadecimal). The status of output signals (Y10 to Y1F) at the time of error occurrence is stored (in hexadecimal). The statuses of input signals (X) at the time of error occurrence are stored Checking an Error on GX Works2 243

246 (c) Button to create a CSV file An error history is output to a CSV file. If errors occur in the QD73A1 frequently, " * HST.LOSS * " may be displayed under "Error Code" instead of an actual error code. If " * HST.LOSS * " is displayed frequently, set a large value for the number of errors collected per scan under the "PLC RAS" tab in "PLC Parameter". For the setting, refer to the following. The user's manual (Function Explanation, Program Fundamentals) for the CPU module used 244

247 CHAPTER 14 TROUBLESHOOTING 14.2 Troubleshooting Troubleshooting procedure This section shows the troubleshooting procedure for the QD73A1. Start (Error occurrence) Has the motor stopped? NO Page 246, Section YES Check the LED on the front of the QD73A1. 14 Is the ERR.LED off? NO Page 252, Section YES Is positioning executed? NO Page 246, Section YES Has the work reached the set position? YES Is the work operating in the set speed? YES Does the work stop normally during positioning? YES NO NO NO Page 247, Section Page 248, Section Page 248, Section Troubleshooting Troubleshooting procedure Is OPR executed? NO Page 249, Section YES Are other modules operating normally? NO Refer to the manual for the module having the problem. YES Consult your local Mitsubishi representative. End 245

248 When the motor does not stop Check item Action Is the QD73A1's zero adjustment performed properly? Perform zero adjustment. ( Page 59, Section 4.5) Is the servo amplifier's zero adjustment performed properly? Is a large value set to the gain value of the servo amplifier? Are the speed command terminal on the QD73A1 and the servo amplifier connected properly? (when the motor does not stop even though the speed command from the QD73A1 is 0V) Is there noise effect? Refer to the manual for the servo amplifier, and perform zero adjustment. Refer to the manual for the servo amplifier, and adjust the gain value of the servo amplifier to a proper value. Connect the speed command terminals properly. Place signal lines away from power cables. Use shielded twisted pair cables for signal lines. Ground cables without fail. Place the motor away from noise source When positioning cannot be executed Check item Is PLC READY signal (Y2D) off? Is Servo READY signal (X1B) off? Is the ERR. LED on? Is the BUSY LED off? Is Excessive error signal (X17) on? Is External stop signal (X1D) on? Is WDT error, H/W error signal (X10) on? Are the QD73A1 and the drive unit connected properly? Action Turn on PLC READY signal (Y2D). Turn on Servo READY signal. Check if there is any error on the servo amplifier. Check if the QD73A1 and the servo amplifier are wired properly. Read out the error code, and take the corrective action described in the error code list. ( Page 252, Section ) [Double-check the sequence program.] Check if an interlock is made at a start. Check if Stop signal (Y27) is on. Check if the start is kept reset. Check if the start signal is kept on. [Check the QD73A1's status.] Check if the QD73A1 is mounted on the base unit properly. Check if the position setting is proper. The accumulated pulse amount is outside the setting range. Check if the accumulated pulse setting is proper. ( Page 102, Section 6.2.2) Check if the multiplication setting is proper. ( Page 104, Section 6.2.3) Check if the encoder I/F setting is proper. ( Page 105, Section 6.2.6) Check if the gain adjustment is proper. ( Page 59, Section 4.5) Check if the QD73A1 and the encoder are connected properly. ( Page 66, Section 4.6.2) Check if Stop signal (Y27) is on. Check if Stop signal (STOP) is on. If WDT error, H/W error signal (X10) stays on even after resetting the CPU module, please consult your local Mitsubishi representative. Check if the QD73A1 and the drive unit are wired properly. 246

249 CHAPTER 14 TROUBLESHOOTING Check item Is proper wave output displayed when the QD73A1's speed command terminal is connected to an oscilloscope? Is proper wave output displayed when the drive unit's encoder output terminal is connected to an oscilloscope? Action If proper wave output is not displayed, please consult your local Mitsubishi representative When a positioning error occurs Check item Do the position errors occur by regular amount? Is the motor rotating smoothly? Is there noise effect? Action [Double-check the parameters.] Check if the set position is proper according to the machine position. Check the positioning parameters and positioning data. Check the accumulated pulse setting. ( Page 102, Section 6.2.2) Check the multiplication setting. ( Page 104, Section 6.2.3) [Double-check the sequence program.] Check if a proper address is set. Check if a proper value is set for a current value change. Check if a stop signal is input. Check if the set movement amount is too small for operation in the speedposition control switch mode. Check if the feedback pulse frequency is within 1Mpulse/s using an oscilloscope. Place signal lines away from power cables. Use shielded twisted pair cables for signal lines. Ground cables without fail. Place each device in the system away from noise source Troubleshooting When a positioning error occurs 247

250 When the positioning speed is different from the specified speed Check item Are the positioning data set properly? Set proper positioning data. Action Is the set positioning speed value greater than " limit value"? Pr.5 Speed Set a positioning speed value that is smaller than " value". Pr.5 Speed limit Is the accumulated pulse setting proper? Calculate the maximum accumulated pulse amount, and review the accumulated pulse setting. ( Page 102, Section 6.2.2) Is the zero/gain adjustment proper? Perform zero/gain adjustment again. ( Page 59, Section 4.5) Is the multiplication setting proper? Is the servo amplifier set properly? Is a speed change executed? Is proper wave output displayed when the QD73A1's speed command terminal is connected to an oscilloscope? Is proper wave output displayed when the drive unit's encoder output terminal is connected to an oscilloscope? Configure the multiplication setting properly. ( Page 104, Section 6.2.3) Refer to the manual for the servo amplifier, and set the servo amplifier properly. Review the sequence program to see if the speed change is necessary. If proper wave output is not displayed, please consult your local Mitsubishi representative When operation stops abnormally during positioning Check item Is there an error on the servo amplifier? Is Stop signal (Y27) on? Is Stop signal (STOP) on? Is Excessive error signal (X17) on? Is there noise effect? Action Refer to the manual for the servo amplifier, and check the error detail. Review the sequence program to see if Stop signal (Y27) needs to be turned on. Check if Stop signal (STOP) is wired properly. The accumulated pulse amount is outside the setting range. Check if the accumulated pulse setting is proper. ( Page 102, Section 6.2.2) Place signal lines away from power cables. Use shielded twisted pair cables for signal lines. Ground cables without fail. Place each device in the system away from noise source. 248

251 CHAPTER 14 TROUBLESHOOTING OPR error (1) When OPR cannot be completed Check item Does Near-point dog signal (DOG) stay off? Does the speed change to the creep speed after Near-point dog signal (DOG) turned on? Does analog output from the QD73A1 continue after a Zero signal input? Does Zero signal stay off? Action Check if Near-point dog signal (DOG) is wired properly. The QD73A1 may be broken. Please consult your local Mitsubishi representative. Check if Zero signal is wired properly. (2) When the OP position is in error Check item Do the position errors occur by regular amount? Is the OPR completed near the position where Near-point dog signal (DOG) turns on? Is the OPR in the near-point dog method completed even though the near-point dog did not turn off? In the near-point dog method, is the movement amount after near-point dog more than that of normal OPR completion by one or more servomotor rotation? Action [Near-point dog method] If the position where the near-point dog turns off is near the position of a Zero signal input, the Zero signal input may be misread. Adjust the position where the near-point dog turns off to be closer to the center of Zero signals. [Count method] If the position after the move according to " Setting for the movement amount after near-point dog " is near the position of a Zero signal input, the Zero signal input may be misread. Adjust " Setting for the movement amount after near-point dog " so that the position after the move becomes closer to the center of Zero signals. Near-point dog signal (DOG) may be chattering. Use a high-performance near-point dog. The contact or wiring of the near-point dog is not proper. Check the wiring. Near-point dog signal (DOG) may be chattering when it turns off. Use a high-performance near-point dog. Pr.13 Pr Troubleshooting OPR error 249

252 14.3 Details of Errors Types of errors The errors detected in the QD73A1 are categorized into five types. (1) Setting data range error The QD73A1 checks parameters with the setting ranges at the following timings, and detects an error when a data is outside the setting range. If an error occurs, the corresponding data must be changed to a value within the setting range. Setting data Fixed parameters Variable parameters OPR parameters Positioning data Control change areas Check timing When PLC READY signal (Y2D) is turned on When a positioning start signal (Y21 to Y23) is turned on When a JOG start signal (Y24, Y25) is turned on When OPR start signal (Y20) is turned on When OPR start signal (Y20) is turned on When a positioning start signal (Y21 to Y23) is turned on Before the execution of a control change (2) Start error Start error is a type of errors that occur at a start of OPR control, major positioning control, or JOG operation. Operation does not start if an error occurs. (3) Operation error Operation error is a type of errors that occur during OPR control, major positioning control, or JOG operation. If an error occurs, operation decelerates and stops or continues without decelerating depending on the error detail. For the operation at the error occurrence, refer to the following. ( Page 252, Section ) (4) Control change error Control change error is a type of errors that occur at a control change during positioning. The data for the control change is ignored if an error occurs. (5) Zero/gain adjustment error Zero/gain adjustment error is a type of errors that occur during zero/gain adjustment. The details of the zero/gain adjustment are not reflected in the QD73A1 if an error occurs. Eliminate the error cause, and perform zero/gain adjustment again. 250

253 CHAPTER 14 TROUBLESHOOTING Storage of errors When an error occurs in the QD73A1, the corresponding error code is stored in the buffer memory. (1) ERR.1 and ERR.2 Errors are classified into ERR.1 and ERR.2 depending on the error details. Error classification ERR.1 (minor errors) ERR.2 (major errors) Description Errors caused due to sequence programs. Check the error code, and eliminate the error cause by correcting the sequence program. Hardware errors or errors caused due to control commands from external input signals. Check the error code, and eliminate the error cause on an external input signal. (2) Buffer memory areas for error codes The latest error codes are stored in the following buffer memory areas every time an error occurs, deleting the previous error codes. When there is no error or when the errors were reset, "0" is stored. 14 Error classification Buffer memory area name Buffer memory address ERR.1 (minor errors) Error code (ERR.1) 104 Md.3 ERR.2 (major errors) Error code (ERR.2) 105 Md.4 Corresponding error detection signal Error detection signal (X18) Error reset Eliminate the error cause according to the corrective action described in the error code list ( ), then cancel the error status by turning on Error reset signal (Y28). At the time, the QD73A1 operates as follows. Page 252, Section 14.3 Details of Errors Storage of errors 1 Clears " Md.3 Error code (ERR.1)" to 0. 2 Clears " Md.4 Error code (ERR.2)" to 0. 3 Turns off Error detection signal (X18). 251

254 Error code list The following table describes error details and corrective actions. Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action The set value in 1 Stroke limit lower limit " Pr.2 Stroke limit lower limit" is outside to " Pr.1 Stroke limit Set a value within the setting range, and turn on PLC READY signal (Y2D). upper limit". Setting data range error (Fixed parameter) ERR.1 Numerator of command pulse multiplication for electronic gear Outside the setting range Denominator of command pulse multiplication for electronic gear Outside the setting range Speed limit value Outside the setting range The set value in " Pr.3 Numerator of command pulse multiplication for electronic gear" is outside the setting range. The set value in " Pr.4 Denominator of command pulse multiplication for electronic gear" is outside the setting range. The set value in " Pr.5 Speed limit value" is outside the setting range. If a setting is outside the setting range, the error occurs and all of the fixed parameters use the default values for the control. Set a value within the setting range, and turn on PLC READY signal (Y2D). [Setting range] 1 to 9999 Set a value within the setting range, and turn on PLC READY signal (Y2D). [Setting range] 1 to 9999, and besides 1/50 CMX/CDV 50 Set a value within the setting range. [Setting range] 10 to pulse/s 11 Acceleration time Outside the setting range The set value in " Pr.6 Acceleration time" is outside the setting range. Set a value within the setting range. [Setting range] 2 to 9999ms Setting data range error (Variable parameter) 12 Deceleration time Outside the setting range The set value in " Pr.7 Deceleration time" is outside the setting range. Only the setting with the error uses the default value for control. Set a value within the setting range. [Setting range] 2 to 9999ms 13 In-position range Outside the setting range The set value in " Pr.8 In-position range" is outside the setting range. Set a value within the setting range. [Setting range] 1 to 20479pulse 14 Positioning mode Outside the setting range The set value in " Pr.9 Positioning mode" is other than 0 and 1. Set a value within the setting range. 252

255 CHAPTER 14 TROUBLESHOOTING Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action 20 OPR speed Outside the setting range The set value in " Pr.11 OPR speed" is outside the setting range. Set a value within the setting range. [Setting range] 1 to " Pr.5 Speed limit value" (pulse/s) Setting data range error (OPR parameter) ERR.1 Creep speed Outside the setting range Setting for the movement amount after near-point dog Outside the setting range The set value in " Pr.12 Creep speed" is outside the setting range. The set value in " Pr.13 Setting for the movement amount after near-point dog " is outside the setting range. If a setting is outside the setting range, the OPR does not start. Set a value within the setting range. [Setting range] 1 to " Pr.11 OPR speed" (pulse/s) Set a value within the setting range. [Setting range] Deceleration distance from " Pr.11 OPR speed" to " Pr.12 Creep speed" < " Pr.13 Setting for the movement amount after near-point dog " (This condition is checked only in the count method.) 14 Setting data range error (Positioning data) Positioning address Outside the setting range Two-phase trapezoidal positioning address error The positioning end point is outside the stroke limit range. The set value of positioning address in the incremental system is a negative value at the start. For two-phase trapezoidal positioning control in the absolute system, the moving direction from P1 to P2 is different from the direction used to reach P1. The positioning does not start. Set the positioning end point within the stroke limit range. Do not set a negative value to the positioning address in the incremental system at the start. Do not change the moving direction for P1 to P2 from the direction used to reach P Details of Errors Error code list 253

256 Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action Setting data range error (Positioning data) Setting data range error (Control change area) Setting data range error (Control change area) ERR.1 Positioning speed Outside the setting range New speed value Outside the setting range JOG speed Outside the setting range The positioning speed is outside the setting range. The set value in " Cd.2 New speed value" is outside the setting range in positioning operation. The set value in " Cd.3 JOG speed" is outside the setting range. The positioning does not start when the set value is 0. In case of an error due to a set value other than 0, the positioning is controlled with " Pr.5 Speed limit value". Set a value within the setting range. [Setting range] 1 to " Pr.5 Speed limit value" (pulse/s) Set a value within the setting range. [Setting range] 0 to " Pr.5 Speed limit value" (pulse/s) Set a value within the setting range. [Setting range] 1 to " Pr.5 Speed limit value" (pulse/s) Check the power supply status and wiring of the drive unit, as well as the 70 Servo READY at start Servo READY signal (READY) is off at the start of major positioning, OPR, or JOG operation. connections of connectors. When using a drive unit without Servo READY output, wire devices so that the QD73A1's Servo READY signal (READY) input stays on. Start error 71 ERR.2 External stop signal at start Stop signal (STOP) is on at the start of major positioning, OPR, or JOG operation. The operation does not start. Turn off Stop signal (STOP) Upper limit signal at start Lower limit signal at start Upper limit signal (FLS) is off at the start of major positioning, OPR, or JOG operation. Lower limit signal (RLS) is off at the start of major positioning, OPR, or JOG operation. Return the workpiece to a position within the stroke limit range using JOG operation. Check the power supply status and wiring of the drive unit, as well as the connections of connectors. If the system does not need limit switches, wire devices so that the QD73A1's LS signal inputs stay on. 254

257 CHAPTER 14 TROUBLESHOOTING Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action 74 ERR.2 Near-point dog signal at start Near-point dog signal (DOG) is on at the start of OPR in the near-point dog method. Return the workpiece to a position away from the near-point dog using JOG operation or major positioning, then execute OPR. QD73A1 READY 80 READY signal at start (PLC READY signal at start) signal (X11) or PLC READY signal (Y2D) is off at the start of major positioning, OPR, or JOG operation. Turn on PLC READY signal (Y2D). 81 BUSY signal at start An operation start is attempted when BUSY signal (X14) is on. Make an interlock using a sequence program so that no operation starts when BUSY signal (X14) is on. 14 Start error ERR.1 STOP signal at start Outside the stroke limit range at start OPR complete signal at start An operation start is attempted when Stop signal (Y27) is on. An operation start is attempted when the workpiece is outside the stroke limit range. An OPR start is attempted when OPR complete signal (X13) is on. The operation does not start. Turn off Stop signal (Y27), and start the operation again. Return the workpiece to a position within the stroke limit range using JOG operation. Execute OPR. Set the workpiece to a position within the stroke limit range by changing the current value. OPR cannot be started in succession (only in the nearpoint dog method). Move the workpiece to the position before the near-point dog using JOG operation or major positioning, then start another OPR Details of Errors Error code list 255

258 Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action Speed-position mode Start error 85 ERR.1 Restart error restart signal (Y26) was turned on when positioning was complete in the speed-position control switch mode. Speed-position mode restart signal (Y26) was turned on in the position control mode. The operation does not start. Start operation using Forward start signal (Y22) or Reverse start signal (Y23). Start operation using Absolute positioning start signal (Y21), Forward start signal (Y22), or Reverse start signal (Y23). 87 ERR.1 Movement outside the stroke limit range A movement amount change was attempted with a value that moves the workpiece outside the stroke limit range. The movement amount does not change. Set movement amount so that the workpiece is positioned within the stroke limit range after the move. Operation error ERR.2 Servo READY while BUSY Upper limit signal while BUSY Lower limit signal while BUSY Servo READY signal (READY) turned off during major positioning, OPR, or JOG operation. Upper limit signal (FLS) turned off during major positioning, OPR, or JOG operation. Lower limit signal (RLS) turned off during major positioning, OPR, or JOG operation. The operation runs freely. The operation decelerates and stops. Check the drive unit, and turn on Servo READY signal (READY). Return the workpiece to a position within the stroke limit range using JOG operation. 256

259 CHAPTER 14 TROUBLESHOOTING Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action Start OPR if the workpiece stops when the near-point dog turns on in the count method. In the near-point dog method, if the workpiece stops after the near-point dog 93 ERR.2 External stop signal during OPR Stop signal (STOP) turned on during OPR. The operation decelerates and stops. turns on, return the workpiece to the position before the near-point dog turns on using JOG operation or major positioning, and then start OPR. Start OPR if the workpiece stops before the near-point dog turns on. 14 Operation error ERR.1 Outside the stroke limit range STOP signal during OPR PLC READY signal during OPR The current value exceeded the stroke limit range during OPR or JOG operation. Stop signal (Y27) was turned on during OPR. PLC READY signal (Y2D) was turned off during OPR. The OPR or JOG operation continues. The operation decelerates and stops. Return the workpiece to a position within the stroke limit range using JOG operation. Start OPR if the workpiece stops when the near-point dog turns on in the count method. In the near-point dog method, if the workpiece stops after the near-point dog turns on, return the workpiece to the position before the near-point dog turns on using JOG operation or major positioning, and then start OPR. Start OPR if the workpiece stops before the near-point dog turns on Details of Errors Error code list The command 104 Outside the command frequency range frequency exceeded 4Mpulse/s due to the electronic gear setting. The speed is limited to 4Mpulse/s or lower. Change the speed to 4Mpulse/s or lower. 257

260 Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action PLC READY signal Operation error 105 PLC READY signal during operation (Y2D) was turned off during major positioning or JOG operation. The operation decelerates and stops. Turn on PLC READY signal (Y2D). A current value Current value change error Speed change error (OPR) change is attempted when BUSY signal (X14) is on. A speed change was attempted during OPR. Make an interlock using a sequence program. Control change error during operation 112 ERR.1 Speed change error (Positioning) A speed change was attempted at the start of automatic deceleration of major positioning or thereafter. The control change is ignored. Correct the sequence program so that the speed is changed before the start of automatic deceleration of major positioning. A speed change was Speed change error (JOG) Deviation counter clear error attempted after JOG start signal (Y24, Y25) was turned off in JOG operation. Deviation counter clearing is attempted when BUSY signal (X14) is on. Make an interlock using a sequence program. 258

261 CHAPTER 14 TROUBLESHOOTING Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action For zero/gain 120 Flash ROM write exceeded adjustment, a setting value has been consecutively written to the flash ROM more than 25 times. Turn off and on the power supply, or reset the CPU module or the error. Try writing the value 121 Flash ROM write error For zero/gain adjustment, the setting value could not be written in the flash ROM. again. If the error occurs again, a failure might have occurred on the module. Please consult your local Mitsubishi representative. Zero/gain adjustment error 122 ERR.1 Zero adjustment error For zero/gain adjustment, the zero adjustment value is equal to or greater than the gain adjustment value. The zero/gain adjustment values are not reflected. Set the values so that they meet the following condition: Zero adjustment value < Gain adjustment value Zero/gain adjustment setting error The set value in " Cd.10 Zero/gain adjustment specification" is outside the setting range. Set a value within the setting range (1, 2) in " Cd.10 Zero/gain adjustment specification". 124 Zero/gain adjustment value error The set value in " Cd.11 Zero/gain adjustment value specification" is outside the setting range. Set a value within the setting range (-3000 to 3000) in " Cd.11 Zero/gain adjustment value specification" Details of Errors Error code list 259

262 Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action Set a value within the setting range. [Setting range] Depends on "Accumulated pulse Zero/gain adjustment error ERR.1 Analog output adjustment area 1 Outside the setting range Analog output adjustment area 2 Outside the setting range The set value in " Cd.5 Analog output adjustment area 1" is outside the setting range. The set value in " Cd.9 Analog output adjustment area 2" is outside the setting range. The zero/gain adjustment values are not reflected. setting" in the switch setting. (Unit: pulse) Selection 1: to 3700 Selection 2: to 7400 Selection 3: to Default value, selection 4: to Set a value within the setting range. [Setting range] Depends on "Accumulated pulse setting" in the switch setting. (Unit: pulse) Selection 5: to Selection 6: to Selection 7: to Selection 8: to

263 CHAPTER 14 TROUBLESHOOTING Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action 130 Accumulated pulse alert Accumulated pulses reached the alert level. The positioning continues. The number of accumulated pulses used as the reference of the Accumulated pulse error detection function error 131 ERR.1 Accumulated pulse error undetectable accumulated pulse error detection function is unmeasured. Either of the values in " Alert output accumulated pulse setting value (maximum value)" and " Cd.14 Immediate stop accumulated pulse setting value (maximum value)" is outside the setting range. Moreover, either of the values in " Alert output accumulated pulse setting value (minimum value)" and " Cd.16 Immediate stop accumulated pulse setting value (minimum value)" is outside the setting range. " Cd.17 Cd.13 Cd.15 Accumulated pulse setting value selection" is set to 1 and the maximum/minimum reference values are set to 0. The accumulated pulse error detection function is not executed. Measure the reference value and then, execute the accumulated pulse error detection function. Set the values of " Cd.13 Alert output accumulated pulse setting value (maximum value)" to " Cd.16 Immediate stop accumulated pulse setting value (minimum value)" within the setting range. Change the value of " Cd.17 Accumulated pulse setting value selection" to 0 and review the setting values of " Cd.13 Alert output accumulated pulse setting value (maximum value)" to " Cd.16 Immediate stop accumulated pulse setting value (minimum value)" Details of Errors Error code list 132 Reference value write error " Cd.20 Reference value write request" was set to 1 when the measurement was not being executed (" Md.20 Reference value measurement flag" was set to 0). The reference value is not written to the flash ROM. Measure the reference value and then, write the value. (Write the value when " Md.20 Reference value measurement flag" is set to 1.) 261

264 Error category Error code (decimal) Error classification Error name Description Operation at the error occurrence Action The measured Accumulated pulse error detection function error ERR.1 Flash ROM write exceeded Flash ROM write error reference value has been consecutively written to the flash ROM more than 25 times. The measured reference value could not be written in the flash ROM. The measured reference value is not saved in the flash ROM. Turn off and on the power supply or reset the CPU module, or clear the error. Write the value again. If the error occurs again, a failure might have occurred on the module. Please consult your local Mitsubishi representative. 800 Hold error The setting for the QD73A1 is "Hold" on a CPU module's parameter "Error Time Output Mode". The module does not operate. Set "Clear" to the CPU module's parameter "Error Time Output Mode". I/F error 803 ERR.2 Programmable controller CPU error The CPU has a problem. At start: The module does not operate. During operation: The operation decelerates and stops. Check the error occurring on the CPU module, and refer to the user's manual for the CPU module used. Fatal error 900 Hardware error Hardware error 2 The hardware has a problem. The system stops. Turn off and on the power supply. If the error occurs again, a failure might have occurred on the module. Please consult your local Mitsubishi representative. 262

265 APPENDICES APPENDICES Appendix 1 Appendix 1.1 Functions Added or Changed Functions added The following lists the functions added to the QD73A1 and corresponding product information. Function QD73A1 product information (first five digits) Reference Accumulated pulse error detection function or later Page 223, Section 11.9 Feedback pulse addition/subtraction setting Page 106, Section Deviation counter clear setting or later Page 107, Section Deviation counter value (pulse) monitor Page 85, Section 5.5 Movement amount after near-point dog (absolute value) or later Page 85, Section 5.5 Appendix 1.2 Functions changed A The following lists the changed function of the QD73A1 and corresponding product information. QD73A1 product information Function Reference (first five digits) Switch setting or later Page 276, Appendix 4.1 (2) (1) Switch setting The feedback pulse addition/subtraction setting and the deviation counter clear setting can be configured in the switch setting. (a) When the QD73A1 that does not support the changed function is used The feedback pulse addition/subtraction setting and the deviation counter clear setting cannot be configured in the switch setting. Appendix 1 Functions Added or Changed Appendix 1.1 Functions added 263

266 Appendix 2 Appendix 2.1 Connection Examples Example of connection with a servo amplifier manufactured by Mitsubishi Electric Corporation (1) Connection with MR-J3 A (Differential driver) QD73A1 CT. connector DOG Near-point dog signal N.C. N.C. N.C. Power supply (5 to 24V) RLS Lower limit signal FLS Upper limit signal CHANGE Speed-position switching command signal STOP Stop signal *1 *2 CN1 MR-J3- A External power supply 24V 0V READY Servo READY signal (+ side) READY Servo READY signal (- side) RD Ready PULSE A Phase-A feedback pulse (+ side) PULSE A Phase-A feedback pulse (- side) LA Encoder A-phase pulse (differential line driver) 5 LAR Encoder A-phase pulse (differential line driver) PULSE B Phase-B feedback pulse (+ side) PULSE B Phase-B feedback pulse (- side) LB Encoder B-phase pulse (differential line driver) 7 LBR Encoder B-phase pulse (differential line driver) SERVO connector PULSE Z Phase-Z feedback pulse (+ side) PULSE Z Phase-Z feedback pulse (- side) LZ Encoder Z-phase pulse (differential line driver) 9 LZR Encoder Z-phase pulse (differential line driver) 34 LG Control common SV Servo signal (- side) SV Servo signal (+ side) S Servo-on Speed command signal (+ side) Speed command signal (- side) N.C. Analog GND N.C VC Analog speed command 3 LG Control common 20 DICOM Digital I/F power supply input 21 DICOM Digital I/F power supply input 46 DOCOM Digital I/F common 47 DOCOM Digital I/F common External power supply 24V 0V 17 ST1 Forward rotation start 18 ST2 Reverse rotation start 28 LG Control common 30 LG Control common 42 EMG Emergency stop 43 LSP Forward rotation stroke end 44 LSN Reverse rotation stroke end *1 indicates use of shielded cables. Use shielded cables for wiring. *2 indicates use of shielded twisted pair cables. Use shielded twisted pair cables for wiring. 264

267 APPENDICES Appendix 2.2 Example of connection with a servo amplifier manufactured by YASKAWA Electric Corporation (1) Connection with -V series (Differential driver) For DC power supply input type QD73A1 CN1 -V series CT. connector DOG Near-point dog signal N.C. N.C. N.C. Power supply (5 to 24V) RLS Lower limit signal FLS Upper limit signal CHANGE Speed-position switching command signal STOP Stop signal External power supply 24V 0V READY Servo READY signal (+ side) READY Servo READY signal (- side) COM-SG 10 S-RDY PULSE A Phase-A feedback pulse (+ side) PULSE A Phase-A feedback pulse (- side) PAO 20 /PAO A PULSE B Phase-B feedback pulse (+ side) PULSE B Phase-B feedback pulse (- side) PBO 22 /PBO SERVO connector PULSE Z Phase-Z feedback pulse (+ side) PULSE Z Phase-Z feedback pulse (- side) PCO 24 /PCO SV Servo signal (- side) SV Servo signal (+ side) Speed command signal (+ side) Speed command signal (- side) N.C. Analog GND N.C /S VIN 1 V-REF 2 SG 13 SG Appendix 2 Connection Examples Appendix 2.2 Example of connection with a servo amplifier manufactured by YASKAWA Electric Corporation 265

268 For AC power supply input type QD73A1 CN1 -V series CT. connector DOG Near-point dog signal N.C. N.C. N.C. Power supply (5 to 24V) RLS Lower limit signal FLS Upper limit signal CHANGE Speed-position switching command signal STOP Stop signal External power supply 24V 0V READY Servo READY signal (+ side) READY Servo READY signal (- side) /S-RDY- 29 /S-RDY+ PULSE A Phase-A feedback pulse (+ side) PULSE A Phase-A feedback pulse (- side) PAO 34 /PAO PULSE B Phase-B feedback pulse (+ side) PULSE B Phase-B feedback pulse (- side) PBO 36 /PBO SERVO connector PULSE Z Phase-Z feedback pulse (+ side) PULSE Z Phase-Z feedback pulse (- side) PCO 20 /PCO SV Servo signal (- side) SV Servo signal (+ side) /S VIN Speed command signal (+ side) Speed command signal (- side) V-REF 6 SG N.C. Analog GND N.C SG 266

269 APPENDICES Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 (1) Performance specification comparison Item Specifications QD73A1 AD70 A1SD70 48 points (I/O Number of occupied I/O points 48 points (I/O assignment: empty 16 points and 32 points (special 32 assignment: empty 16 intelligent 32 points) points) points and special 32 points) Positioning Speed command 1 to (pulse/s) 1 to (pulse/s) In-position range 1 to 20479pulse 1 to 2047pulse Positioning feedback pulse input Pulse frequency Open collector: 200kpulse/s TTL: 200kpulse/s Differential output: 1Mpulse/s Open collector: 100kpulse/s TTL: 100kpulse/s Differential output: 100kpulse/s With OPR address change With OPR address change OPR control OPR method and OPR direction depend on the OPR method and OPR direction depend on the parameter setting. switch setting. Internal current consumption 5VDC 0.52A 5VDC 0.3A External supply voltage/current terminal block No external power supply +15VDC 0.2A, -15VDC, 0.02A External dimensions 98(H)mm 55.2(W)mm 90(D)mm 250(H)mm 37.5(W)mm 130(H)mm 69.5(W)mm 119(D)mm 93.6(D)mm Weight 0.20kg 0.5kg 0.4kg Absolute system: 1.2ms (same for two-phase Absolute system: 4.4ms (additional 0.2ms for twophase trapezoidal positioning) trapezoidal positioning) Starting time Incremental system: 1.2ms (same for two-phase Incremental system: 4.5ms (additional 0.2ms for (from a start request to analog trapezoidal positioning) two-phase trapezoidal positioning) output start) JOG operation: 1.2ms JOG operation: 4.3ms OPR (near-point dog method): 1.2ms OPR (near-point dog method): 4.4ms OPR (count method): 1.2ms OPR (count method): 5.1ms A Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 267

270 LED Item Specifications QD73A1 AD70 A1SD70 RUN None ERR. ERR.1/ERR.2 (Minor/major error) ZERO None GAIN None None (check with X signal) SV RDY (Servo READY signal) None (check with X signal) DOG (Near-point dog signal) None (check with X signal) STOP (Stop signal) None (check with X signal) FLS (Upper limit signal) None (check with X signal) RLS (Lower limit signal) None (check with X signal) IN-POS. (In-position) None (check in the buffer memory) POLE (Deviation counter polarity) None (check in the buffer memory) 2 N (Deviation counter value) None (check with Y signal) PC RDY (PLC READY signal) None (check with X signal) ZERO (OPR request signal) None (check with X signal) EEX (Excessive error) None (check with X signal) WDT ERR. (Hardware error) None (check with X signal) V-MODE (Operating status) Zero/gain adjustment Adjustment using the UP/DOWN switch Adjustment using the buffer memory Adjustment using volumes Mode switch Intelligent function module switch DIP switch All the other specifications are the same. 268

271 APPENDICES (2) Function comparison : Usable : Unusable Function QD73A1 AD70/A1SD70 Difference OPR control Positioning control Position Two-phase control trapezoidal mode positioning control Major positioning control Speed-position control switch mode JOG operation Electronic gear function Speed limit function Stroke limit function Upper limit switch (FLS)/lower limit switch (RLS) function Current value change function Speed change function Deviation counter clear function In-position function Multiplication setting [Movement amount after near-point dog (buffer memory)] QD73A1: The movement amount where the OPR direction is reflected is stored in Movement amount after near-point dog, which is the same buffer memory address as the AD70/A1SD70. The absolute value of movement amount is stored in Md.22 Md.6 Movement amount after near-point dog (absolute value) AD70/A1SD70: The absolute value of movement amount is stored. [Buffer memory addresses for positioning data] Refer to the following. Page 273, Appendix 3 (5) [Buffer memory addresses for positioning data] Refer to the following. Page 273, Appendix 3 (5) [New speed-position movement amount (buffer memory)] QD73A1: The setting is cleared to 0 when the next operation starts. AD70/A1SD70: The value written during speed control is reflected. [Stroke limit range] QD73A1: 1 to AD70/A1SD70: Stroke limit lower limit to upper limit [Procedure] QD73A1: The current value can be changed by setting "1" in "Current value change request". AD70/A1SD70: The current value can be changed by writing a new current value in the buffer memory. [Procedure] QD73A1: Speed can be changed by setting "1" in "Speed change request". AD70/A1SD70: Speed can be changed by writing a new speed value in the buffer memory. A Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 269

272 Function QD73A1 AD70/A1SD70 Difference Accumulated pulse error detection function Zero/gain adjustment [Method] QD73A1: Switches on the front of the QD73A1 or a sequence program AD70/A1SD70: Switches on the AD70/A1SD70 Module status monitor function Error history function Module error collection function Error clear function 270

273 APPENDICES Remark Positioning execution time (BUSY signal (X14) to Positioning complete signal (X15) ) of the QD73A1 and AD70/A1SD70 may be different since their internal processing methods are different. As a result, the timing when In-position signal (X16) turns on may also vary. Adjust positioning execution time using the following methods if the difference of the execution time (or the timing when Inposition signal (X16) turns on) affects the system. Adjusting the QD73A1's positioning parameter " Pr.6 Acceleration time" or " Pr.7 Deceleration time" Increasing gain by changing the accumulated pulse amount setting through the QD73A1's zero/gain adjustment (3) Error code comparison : Usable : Unusable Error code Error name QD73A1 AD70/A1SD Write in the buffer memory prohibited Mode setting error 120 Flash ROM write exceeded 121 Flash ROM write error A 122 Zero adjustment error 123 Zero/gain adjustment setting error 124 Zero/gain adjustment value error 125 Analog output adjustment area 1 Outside the setting range 126 Analog output adjustment area 2 Outside the setting range 130 Accumulated pulse alert 131 Accumulated pulse error undetectable 132 Reference value write error 133 Flash ROM write exceeded 134 Flash ROM write error 800 Hold error 803 Programmable controller CPU error 900 Hardware error Hardware error 2 All the other error codes are the same. Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 271

274 (4) Input (X)/output (Y) comparison : Usable : Unusable Device No. *1 Signal name QD73A1 AD70/A1SD70 X20 OPR start complete signal X21 Absolute positioning start complete signal X22 Forward start complete signal X23 Reverse start complete signal X24 Synchronization flag X2A Zero/gain adjustment data writing complete flag X2B Zero/gain adjustment change complete flag X2C Set value change complete flag X2D Operating status of the speed-position control switch mode Y1A Zero/gain adjustment data writing request signal Y1B Zero/gain adjustment change request signal Y1C Set value change request signal *1 For assignment to X/Y10 to X/Y2F All the other I/O signals are the same. 272

275 APPENDICES (5) Buffer memory address comparison Buffer memory area name Buffer memory address (decimal) QD73A1 AD70/A1SD70 Current value change request 90 Speed change request 91 Analog output adjustment area Zero/gain adjustment specification 94 Zero/gain adjustment value specification 95 Factory default zero/gain adjustment value restoration request 96 Zero/gain execution status 112 Zero/gain adjustment status 113 Feedrate Deviation counter value (pulse) Movement amount after near-point dog 118 (absolute value) 119 Error history (0 to 16) 120 to 183 Error history pointer 184 Maximum accumulated pulse value Minimum accumulated pulse value Accumulated pulse error detection function status 204 Reference value measurement flag 205 Positioning pattern Positioning address P Positioning speed V Positioning address P Positioning speed V Alert output accumulated pulse setting value 400 (maximum value) 401 Immediate stop accumulated pulse setting value 402 (maximum value) 403 Alert output accumulated pulse setting value 404 (minimum value) 405 Immediate stop accumulated pulse setting value 406 (minimum value) 407 Accumulated pulse setting value selection 408 Accumulated pulse error detection request 409 A Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70 273

276 Buffer memory area name Buffer memory address (decimal) QD73A1 AD70/A1SD70 Measurement start request 410 Reference value write request 411 All the other buffer memory addresses are the same. (6) External I/O signal comparison Input/out Description Signal name put QD73A1 AD70/A1SD70 Input Power supply Terminal block None ±15VDC (±14.55 to ±15.45V) (Open collector method) Pulse frequency: 200kpulse/s or Pulse frequency: 100kpulse/s or Phase-A feedback pulse (PULSE A) less less Phase-B feedback pulse (PULSE B) voltage: 4V or higher voltage: 4V or higher Phase-Z feedback pulse (PULSE Z) voltage: 1V or lower voltage: 1V or lower (TTL method) Pulse frequency: 200kpulse/s or Pulse frequency: 100kpulse/s or Output Phase-A feedback pulse (PULSE A) less less Phase-B feedback pulse (PULSE B) voltage: 2.8V or higher voltage: 2.8V or higher Phase-Z feedback pulse (PULSE Z) voltage: 0.8V or lower voltage: 0.8V or lower (Differential output method) Phase-A feedback pulse (PULSE A) Phase-B feedback pulse (PULSE B) Pulse frequency: 1Mpulse/s or less Pulse frequency: 100kpulse/s or less Phase-Z feedback pulse (PULSE Z) All the other external I/O signals are the same. 274

277 APPENDICES Appendix 4 When Using GX Developer This section describes the operating procedure of GX Developer. When using GX Developer, configure the parameter settings and the auto refresh settings with the sequence program. PROGRAMMING ( Page 111, CHAPTER 7) (1) Applicable software versions For applicable software versions, refer to the following. Page 22, Section 2.1 (4) Appendix 4.1 Operation of GX Developer Configure the following settings when using GX Developer. Window name Application Reference I/O assignment Intelligent function module switch setting Set the type of the module to be mounted and the I/O signal range. Configure the switch setting of the intelligent function module. Page 275, Appendix 4 (1) Page 276, Appendix 4 (2) A (1) I/O assignment Configure the setting on "I/O assignment" in "PLC parameter". Parameter [PLC parameter] [I/O assignment] Appendix 4 When Using GX Developer Appendix 4.1 Operation of GX Developer Item Type Model name Points StartXY Description Select "Intelli.". Enter the model name of the module. The QD73A1 uses two slots. Select "Empty" and "0point" or "16points" for the first slot. Select "Intelli." and "32points" for the second slot. Enter any start I/O number of the QD73A1. 275

278 (2) Intelligent function module switch setting Configure the setting on "Switch setting" in "PLC parameter". Parameter [PLC parameter] [I/O assignment] Click the button. Select "HEX.". Item Switch 1 Bit b0 Setting detail Rotation direction setting 0 Positive voltage is output when the positioning address increases. 1 Negative voltage is output when the positioning address increases. b3 b2 b Fixed to 0 (Empty) When a value is set, the value is ignored. b7 b6 b5 b4 Accumulated pulse setting (unit: pulse) * to (default value) to 3700 [Selection 1] to 7400 [Selection 2] to [Selection 3] to [Selection 4] to [Selection 5] to [Selection 6] to [Selection 7] to [Selection 8] b9 b8 Multiplication setting /2 b11 b Fixed to 0 (Empty) When a value is set, the value is ignored. b12 OPR direction setting 0 Reverse direction (address decreasing) 1 Forward direction (address increasing) b13 OPR method setting 0 Near-point dog method 1 Count method b15 b Fixed to 0 (Empty) When a value is set, the value is ignored. 276